1,Okwu mmalite
Ultrasonic nso nsobụ usoro nchọpụta na-enweghị kọntaktị nke na-eji ebili mmiri ultrasonic na-esi na ụda ụda na-apụta, na ultrasonic ebili mmiri na-atụgharị azụ na ụda ụda mgbe achọpụtara ihe mgbochi ahụ, a na-agbakọkwa anya nke ihe mgbochi ahụ dabere na ịgbasa ọsọ ọsọ nke ọsọ ọsọ. ụda na ikuku. N'ihi ezigbo ultrasonic Directivity ya, ọkụ na agba nke ihe a tụrụ atụ adịghị emetụta ya, ya mere a na-eji ya eme ihe na mgbochi mgbochi robot. Ihe mmetụta ahụ nwere ike ịhụ ihe mgbochi ma ọ bụ ihe mgbochi siri ike n'ụzọ nke robot, wee kọọ ozi anya na ntụzịaka nke ihe mgbochi ahụ ozugbo. Robot nwere ike ịrụ ọrụ ọzọ dịka ozi siri dị.
Site na mmepe ngwa ngwa nke teknụzụ ngwa ngwa robot, robots na mpaghara ngwa dị iche iche apụtala n'ahịa, a na-etinyekwa ihe ọhụrụ achọrọ maka sensọ. Otu esi eme mgbanwe na ngwa nke robots na mpaghara dị iche iche bụ nsogbu maka injinia sensọ ọ bụla iche echiche na nyocha.
N'akwụkwọ a, site na ngwa nke ultrasonic sensọ na robot, iji ghọta nke ọma iji ihe mgbochi zere ihe mgbochi.
2,Ihe mmetụta mmetụta
A21, A22 na R01 bụ ihe mmetụta emebere dabere na ngwa njikwa robot akpaka, yana ọtụtụ uru nke obere mpaghara kpuru ìsì, ngbanwe nha siri ike, oge nzaghachi dị mkpirikpi, nnyonye anya nzacha nzacha, nnabata dị elu, mkpuchi uzuzu na mkpuchi mmiri, ogologo ndụ na ntụkwasị obi dị elu. , wdg. Ha nwere ike imeghari sensọ nwere parampat dị iche iche dịka rọbọt dị iche iche si dị.
Foto ngwaahịa A21, A22, R01
Abstract ọrụ:
• obosara voltaji ọkọnọ, arụ ọrụ voltaji3.3 ~ 24V;
• Ebe kpuru ìsì nwere ike ruo 2.5cm kacha nta;
• Nke kacha nso nwere ike ịtọ, a ngụkọta 5-larịị nso nke 50cm ka 500cm nwere ike ịtọ site ntuziaka;
• Ụdị mmepụta dị iche iche dị, UART auto / njikwa, PWM na-achịkwa, gbanwee olu TTL larịị (3.3V), RS485, IIC, wdg. (UART na-achịkwa na PWM na-achịkwa ike oriri nwere ike ịkwado oriri ike ụra dị ala ≤5uA)
• Ọnụego baud ndabara bụ 115,200, na-akwado mgbanwe;
• Oge nzaghachi nke nwada, oge mmepụta data nwere ike ruo 13ms ngwa ngwa;
• Enwere ike ịhọrọ otu na akụkụ abụọ, ngụkọta nke akụkụ anọ na-akwado maka ọnọdụ ngwa dị iche iche;
• Ọrụ mbelata mkpọtụ arụrụ arụ nke nwere ike ịkwado ntọala ọkwa mbelata mkpọtụ ọkwa 5;
• Nkà na ụzụ nhazi ụda ụda nwere ọgụgụ isi, algọridim nwere ọgụgụ isi arụnyere iji nzacha nnyonye anya ụda ebili mmiri, nwere ike ịchọpụta nnyonye anya ụda ebili mmiri wee rụọ nzacha ozugbo;
• Waterproof Ọdịdị imewe, waterproof ọkwa IP67;
• Nrụgide nrụnye siri ike, usoro ntinye dị mfe, kwụsie ike na ntụkwasị obi;
• Kwado nkwalite ngwa ngwa ime ime;
3,Ngwa ngwaahịa
(1) Ntọala ntọala
(2) Oke nchọta
Ihe mmetụta mgbochi ihe mgbochi Ultrasonic nwere ụdị akụkụ abụọ nke nhọrọ, Mgbe etinyere ngwaahịa ahụ n'ụzọ kwụ ọtọ, akụkụ nchọta n'akụkụ aka ekpe na aka nri dị ukwuu, nwere ike ịbawanye oke mkpuchi nke ihe mgbochi mgbochi, obere akụkụ nchọpụta kwụ ọtọ, n'otu aka ahụ. oge, ọ na-ezere mkpalite na-ezighị ezi kpatara n'ụzọ na-ezighi ezi n'oge ịnya ụgbọ ala.
Eserese nke oke nha
4,Ultrasonic mgbochi zere ihe mmetụta teknụzụ atụmatụ
(1) Eserese nke akụrụngwa akụrụngwa
(2) Usoro ọrụ
a, Ihe mmetụta na-akwado site na sekit eletriki.
b, The processor amalite onwe-nyochaa iji hụ na onye ọ bụla sekit na-arụ ọrụ nkịtị.
c, The processor onwe-elele iji chọpụta ma e nwere ultrasonic otu-ugboro ugboro nnyonye anya mgbaàmà na gburugburu ebe obibi, na mgbe ahụ na-nyo na hazie ndị ọbịa ụda ebili mmiri na oge. Mgbe enweghị ike ịnye onye ọrụ uru dị anya ziri ezi, nye data akara na-adịghị mma iji gbochie mmejọ, wee wụba na usoro k.
d、 The processor eziga ntuziaka ka nkwalite excitation usu circuit ịchịkwa excitation ike dị ka akụkụ na nso.
e、 Ihe nyocha ultrasonic T na-ebunye akara ngosi mgbe ọ rụchara ọrụ
f, ultrasonic nyocha R na-enweta akara ngosi mgbe ọ rụchara ọrụ
g、 A na-eme ka mgbama ụda olu na-adịghị ike site na sekit amplifier mgbaàmà wee laghachi na processor.
h, A na-eweghachi akara ngosi ahụ na onye nrụpụta mgbe emechara ya, yana algọridim nwere ọgụgụ isi arụnyere na-enyocha teknụzụ ụda ụda nnyonye anya, nke nwere ike nyochaa nke ọma ebumnuche ya.
i, sekit nchọpụta okpomọkụ, chọpụta nzaghachi okpomọkụ nke mpụga gburugburu na processor
j、 The processor achọpụta nloghachi oge nke nkwughachi na-akwụ ụgwọ okpomọkụ jikọtara na mpụga ambient gburugburu ebe obibi, gbakọọ anya uru (S = V * t / 2).
k、 The processor na-ebunye ndị ahịa mgbama data gbakọrọ site na njikọ akara wee laghachi a.
(3) Usoro ntinye aka
Ultrasound na ubi nke robotics, ga-eche ihu a dịgasị iche iche nke nnyonye anya isi mmalite, dị ka ike ọkọnọ mkpọtụ mkpọtụ, dobe, ịwa ahụ, transient, wdg Radiation nnyonye anya nke robot esịtidem akara circuit na moto. Ultrasound na-arụ ọrụ na ikuku dị ka ọkara. Mgbe ejiri robot nwere otutu sensọ ultrasonic na ọtụtụ robots na-arụ ọrụ n'akụkụ n'otu oge, a ga-enwe ọtụtụ akara ultrasonic na-abụghị nke ala n'otu oghere na oge, nnyonye anya n'etiti robots ga-adịkwa njọ.
N'ihi nsogbu nnyonye anya ndị a, ihe mmetụta wuru na teknụzụ mgbanwe mgbanwe dị ukwuu, nwere ike ịkwado ntọala ọkwa mbelata mkpọtụ ọkwa 5, enwere ike ịtọ nzacha nnyonye anya ugboro ugboro, enwere ike ịtọ oke na akụkụ, site na iji nzacha nzacha algọridim, nwere. ike mgbochi nnyonye anya ike.
Mgbe ụlọ nyocha DYP gasịrị site na usoro nnwale ndị a: jiri 4 ultrasonic ihe mgbochi mgbochi ihe mmetụta iji gbochie nha, mee ka igwe na-arụ ọrụ ọtụtụ igwe, dekọọ data, ọnụego ziri ezi data ruru karịa 98%.
Eserese nke ule teknụzụ mgbochi nnyonye anya
(4) Nkuku beam nwere ike idozi
Ngwunye ihe mmetụta nhazi ihe nrụnye ngwanrọ nwere ọkwa 4: 40,45,55,65, iji mezuo ihe ngwa chọrọ nke ọnọdụ dị iche iche.
5,Ultrasonic mgbochi zere ihe mmetụta teknụzụ atụmatụ
N'ọhịa nke ngwa mgbanarị ihe mgbochi robot, ihe mmetụta bụ anya robot, Ma robot nwere ike ịgagharị n'ụzọ na-agbanwe agbanwe na ngwa ngwa dabere na ozi nha nke ihe mmetụta weghachiri. N'otu ụdị ihe mgbochi ihe mgbochi ultrasonic, ọ bụ ngwaahịa na-egbochi ihe mgbochi a pụrụ ịdabere na ya na ọnụ ahịa dị ala na obere ọsọ, a na-etinye ngwaahịa na gburugburu robot, nkwurịta okwu na ebe njikwa robot, malite ihe mmetụta dị iche iche maka nchọpụta anya dị ka ntụziaka mmegharị ahụ si dị. nke robot, nweta nzaghachi ngwa ngwa yana ihe achọrọ nchọta. Ka ọ dị ugbu a, ihe mmetụta ultrasonic nwere nnukwu oghere FOV iji nyere igwe aka inweta ohere nha ọzọ iji kpuchie ebe nchọpụta achọrọ ozugbo n'ihu ya.
6,Isi ihe nke ngwa ultrasonic sensọ na atụmatụ mgbochi mgbochi robot
• Ultrasonic mgbochi zere radar FOV yiri igwefoto omimi, na-efu ihe dịka 20% nke igwefoto omimi;
• Mkpebi ziri ezi nke ọkwa millimita zuru oke, dị mma karịa igwefoto omimi;
• A naghị emetụta nsonaazụ ule site na agba gburugburu ebe dịpụrụ adịpụ na ike ọkụ, enwere ike ịchọta ihe mgbochi nke ihe mgbochi, dị ka iko, plastik transperent, wdg.
• Na-adịghị na uzuzu, sludge, foogu, acid na alkali nnyonye anya gburugburu ebe obibi, ntụkwasị obi dị elu, ichekwa nchegbu, ọnụ ọgụgụ mmezi dị ala;
• Obere nha iji zute robot n'èzí na imewe agbakwunyere, enwere ike itinye ya na ọnọdụ dị iche iche nke robots ọrụ, iji gboo mkpa dị iche iche nke ndị ahịa, belata ọnụ ahịa.
Oge nzipu: Ọgọst-16-2022