Ngokombono wezakhiwo, irobhothi lingahlukaniswa libe izingxenye ezintathu nezinhlelo eziyisithupha, okuyizingxenye ezintathu: ingxenye engumshini (esetshenziselwa ukubona izenzo ezihlukahlukene), ingxenye yokuzwa (esetshenziselwa ukubona ulwazi lwangaphakathi nolwangaphandle), ingxenye yokulawula Lawula irobhothi ukuze uqedele izenzo ezahlukahlukene). Amasistimu ayisithupha yilawa: isistimu yokusebenzisana nekhompyutha yomuntu, isistimu yokulawula, isistimu yokushayela, isistimu yemishini yemishini, isistimu yezinzwa, kanye nesistimu yokusebenzisana yerobhothi.
(1) Isistimu yokushayela
Ukwenza i-robot isebenze, kuyadingeka ukufaka idivaysi yokudlulisela kwijoyinti ngalinye, okungukuthi, izinga ngalinye lenkululeko yokunyakaza, okuyisistimu yokushayela. Uhlelo lokushayela lungaba ukudluliswa kwe-hydraulic, ukudluliswa kwe-pneumatic, ukudluliswa kukagesi, noma uhlelo olubanzi oluwahlanganisayo; kungaba ukushayela okuqondile noma ukushayela okungaqondile ngokusebenzisa izindlela zokudlulisa ngomshini njengamabhande ahambisanayo, amaketanga, izitimela zamasondo, namagiya e-harmonic. Ngenxa yemikhawulo yamadrayivu e-pneumatic kanye ne-hydraulic, ngaphandle kwezikhathi ezikhethekile, awasayidlali indima enkulu. Ngokuthuthukiswa kwama-servo motors kagesi kanye nobuchwepheshe bokulawula, amarobhothi ezimboni aqhutshwa ikakhulukazi ama-servo motors.
(2) Uhlelo lwesakhiwo semishini
Isistimu yesakhiwo semishini yerobhothi lezimboni iqukethe izingxenye ezintathu: isisekelo, ingalo, kanye nesiphetho. Ingxenye ngayinye inamadigri amaningana enkululeko, yakha isistimu yemishini ye-multi-degree-of-freedom. Uma isisekelo sifakwe indlela yokuhamba, kwakhiwa irobhothi elihambayo; uma isisekelo singenawo umshini wokuhamba nokujika okhalweni, kwakheka ingalo eyodwa yerobhothi. Ingalo ngokuvamile iqukethe ingalo engenhla, ingalo engezansi nesihlakala. Isiphetho siyingxenye ebalulekile ebekwe ngqo esihlakaleni. Kungaba i-gripper eneminwe emibili noma eneminwe eminingi, noma isibhamu sokufafaza ngopende, amathuluzi wokushisela namanye amathuluzi okusebenza.
(3) Isistimu yezinzwa
Uhlelo lwezinzwa luqukethe amamojula enzwa yangaphakathi kanye namamojula ezinzwa zangaphandle ukuze kutholwe ulwazi olunengqondo mayelana nezimo zemvelo zangaphakathi nezangaphandle. Ukusetshenziswa kwezinzwa ezihlakaniphile kuthuthukisa izinga lokuhamba, ukuguquguquka kanye nokuhlakanipha kwamarobhothi. Uhlelo lwezinzwa lomuntu luhlakaniphe kakhulu ekuboneni ulwazi lwezwe langaphandle. Nokho, ukuze uthole ukwaziswa okuthile okukhethekile, izinzwa zisebenza kangcono kunesimiso sezinzwa zomuntu.
(4) Robot-imvelouhlelo lokusebenzisana
Uhlelo lokusebenzisana kwerobhothi nemvelo luwuhlelo oluqaphela ukuxhumana nokuxhumana phakathi kwamarobhothi ezimboni nezinto zokusebenza endaweni yangaphandle. Amarobhothi ezimboni nezinto zokusebenza zangaphandle zihlanganiswa zibe yiyunithi esebenzayo, njengamayunithi okucubungula nokukhiqiza, amayunithi okushisela, amayunithi okuhlangana, njll. Yiqiniso, amarobhothi amaningi, amathuluzi emishini eminingi noma okokusebenza, izingxenye eziningi zemishini yokugcina izinto, njll. nakho kungahlanganiswa. ibe yiyunithi eyodwa yokusebenza ukwenza imisebenzi eyinkimbinkimbi.
(5) Uhlelo lokusebenzisana lomuntu namakhompyutha
Isistimu yokusebenzisana nekhompyutha yomuntu iyithuluzi elivumela opharetha ukuthi abambe iqhaza ekulawuleni irobhothi futhi axhumane nerobhothi, isibonelo, itheminali evamile yekhompyutha, ikhonsoli yomyalo, ibhodi lokubonisa ulwazi, i-alamu yesiginali yengozi. , njll. Uhlelo lungafingqwa lube izigaba ezimbili: idivayisi enikezwe imiyalelo kanye nedivayisi yokubonisa ulwazi.
Umsebenzi wesistimu yokulawula ukulawula i-actuator yerobhothi ukuze iqedele ukunyakaza okunqunyiwe futhi isebenze ngokohlelo lweziqondiso zokusebenza kwerobhothi kanye nesignali ebuyisiwe kusukela kunzwa. Uma irobhothi lezimboni lingenazo izici zempendulo yolwazi, liwuhlelo lokulawula iluphu evulekile; uma inezici zempendulo yolwazi, iyisistimu yokulawula iluphu evaliwe. Ngokomgomo wokulawula, uhlelo lokulawula lungahlukaniswa lube uhlelo lokulawula uhlelo, uhlelo lokulawula oluguquguqukayo kanye nohlelo lokulawula ubuhlakani bokwenziwa. Ngokwendlela yokulawula ukunyakaza, uhlelo lokulawula lungahlukaniswa lube ukulawulwa kwamaphuzu kanye nokulawulwa kwe-trajectory.
Isikhathi sokuthumela: Dec-15-2022
