Ururimi Imiterere yinganda zigezweho zuzuyemo ibidukikije bisanzwe byanga abantu. Kuva kuri koridoro ifungIcyo ari cyo cyosee, ikora radiyo yinganda za kirimbuzi zaciwe kugeza ku miyoboro yatobotse ibyondo by’imirima ya peteroli ya kure, ntabwo hakenewe kurebwa kure byizewe. Hagati kuri iri hinduka ryikoranabuhanga ni ikurikiranwa rya robo , imashini yakozwe muburyo bwihariye kugirango ijye aho ibiziga binanirana kandi abantu ntibatinyuka gukandagira. BitandukIcyo ari cyo cyosee na platifike yibiziga ishingiye kumurongo muremure wuburemere ninzira zisobanutse, sisitemu yihariye ikoresha lokomisiyo ikomeza kugirango igabIcyo ari cyo cyosee uburemere no guhuza cyane. Inzibacyuho igana ubwigenge nigice cyigenga ntabwo ari inzira gusa yo gukora neza; ni ubwihindurize bwibanze mumutekano no gucunga ibyago kubikorwa remezo bifite imigabane myinshi.
Ubukuru bwa a ikurikiranwa rya robo muribi bihe ahanini biterwa nubushobozi bwayo bwo gufata "ubutaka butubatswe". Muri laboratoire, uruziga ni umwami; icyakora, muri mineshaft yaguye cyangwa umuhanda wuzuye wuzuye, ubutaka ntibusanzwe. Inzitizi nk'imyanda irekuye, ihanamye cyane, hamwe n'amazi maremare akora nk'inzitizi zIcyo ari cyo cyoseuma za lokomisiyo gakondo. IbinyurIcyo ari cyo cyosee, sisitemu ikurikiranwa irema umuhanda wayo. Ubuso bunini bwubuso bwerekana ko robot idacengera muburyo bworoshye, mugihe uburyo bwo gukandagira butera imashini ihuza imashini ikenewe kugirango izamure inzitizi nini kuruta uburebure bwa robo. Ibi bituma urubuga rukurikiranwa rudashidikIcyo ari cyo cyosewaho rwa nyampinga ukabije wibidukikije.
Ubwubatsi Bwubuhanga Binyuze muri Robo Yambere Ikurikirana Geometrie
Ku mutima wa buri kintu cyagezweho cyimikorere igendanwa ni inzira ya robo , ibice bikora nkintera hagati yubwenge bwimashini nisi yisi. IgishushIcyo ari cyo cyoseo cyiyi nzira nuburinganire buhanitse bwo guhagarika umutima, guhinduka, no guterana amagambo. Byakozwe neza inzira ya robo igomba kuba ifite ubushobozi bwo guhangana ningufu nini zogosha mugihe robot ikora "skid-steer" - inzira aho inzira zizunguruka muburyo butandukIcyo ari cyo cyosee kugirango bazenguruke robot mumwIcyo ari cyo cyosea. Ubu bushobozi bwo kuzenguruka mu kirenge cyabwo ni ngombwa mu mirimo yo kugenzura ahantu hafatIcyo ari cyo cyosee, nko imbere mu miyoboro minini ya diameter nini cyangwa hagati y'imashini zikoreshwa mu nganda.
Imiterere yimbere ya inzira ya robo igena kandi imikorere ya sisitemu muri rusange. Ba injeniyeri bibanda ku kibuga no gushimangira inzira kugirango barebe ko imbaraga ziva kuri moteri ya moteri zohanozwa hasi hamwe nigihombo gito. Muri sisitemu yo kugenzura ihanitse, inzira ikunze gukorwa hamwe n "" kwisukura "imitsi isuka ibyondo n imyanda uko bizunguruka hafi yimodoka. Ibi birinda iyubakwa ryibintu bishobora kuganisha ku "guta inzira," uburyo bwo kunanirwa bushobora gusiga robot ihenze ihagaze ahantu hatagerwaho. Mugushira imbere uburinganire bwimikorere yumurongo, ababikora batanga urwego rwo kwizerwa rukomeye kubutumwa aho gukira atari amahitamo.
Ibyiza bya Mechanical Trackillar Track ya Robo
Igitekerezo cyo gukomeza gukandagira ntabwo ari shyashya, ahubwo ni ikoreshwa rya caterpillar tracks za robo yabonye gusimbuka gukomeye mubuhanga buhanga. Ubusanzwe, ubwo buryo bwajyanaga na tanki iremereye hamwe na za romoruki z'ubuhinzi, byaranzwe n'urusaku rwinshi n'uburemere bukabije. Imashini za robo zigezweho zahinduye miniatori kandi inonosora ubwo buhanga, ikora sisitemu yoroheje, yumuriro mwinshi utanga ubushobozi budasanzwe bwo kuzamuka. Caterpillar tracks ya robo emerera izo mashini kugendagenda kuntambwe, kurigata, ndetse nimbogamizi zihagaritse hamwe nurwego rwo guhagararaho robot eshatu cyangwa enye zinziga zidashobora kugeraho.
Uku gushikama nigisubizo cy "umuvuduko muke wubutaka" uranga igishushIcyo ari cyo cyoseo mbonera. Kubera ko uburemere bwa robo ikwirakwizwa ahantu hanini, imashini ntishobora gukurura sensor cyangwa gusenyuka hejuru yoroheje mugihe cyo kugenzura. Kubicunga imyanda ishobora guteza akaga, iki nikintu cyingenzi cyumutekano. Byongeye kandi, caterpillar tracks za robo tanga ingingo zirenzeho zo guhuza. Niba igice kimwe cyumuhanda kibuze gufata kumavuta cyangwa urubura, uburebure busigaye bwumuhanda bukomeza guterana bihagije kugirango imashini ikomeze imbere. Uku kwizerwa niyo mpamvu amakipe yihariye yo gusubiza hamwe nabashinzwe ibikorwa remezo basanzwe kuri sisitemu ikurikiranwa mugihe ikiguzi cyo gutsindwa ari kinini.
Ubumenyi bwibikoresho hamwe nuburyo butandukIcyo ari cyo cyosee bwa Rubber Imashini
Mugihe inzira zibyuma zikwirIcyo ari cyo cyosee nubwubatsi buremereye, isi yubugenzuzi bwibikorwa remezo yishingikiriza hafi gusa rubber robot . Guhitamo reberi-akenshi iba ifite ubucucike bwinshi, ibice byinshi-bitanga urwego rwihariye rwibyiza bikenewe murugo no mubidukikije. Rubber robot tanga ibintu byiza cyane bigabIcyo ari cyo cyosea, birinda ibyuma bya elegitoroniki byoroshye, nka scaneri ya LiDAR hamwe na kamera yubushyuhe bwo hejuru cyane, bitIcyo ari cyo cyoseegIcyo ari cyo cyoseega bikabije hasi. Uku kunyegIcyo ari cyo cyoseega ni ngombwa mu gufata amakuru asobanutse, akoreshwa mugihe cyo kugenzura.
Byongeye kandi, rubber robot ntibashyingiranwa kandi batuje. Mu bwihanoro, ibitaro, cyangwa uruganda rutungIcyo ari cyo cyosea ibiryo, robot igomba kuba ishobora gukora inshingano zayo itangije igorofa ya epoxy cyangwa ngo itere urusaku ruhagarika ibikorwa. Imiterere-ndende ya reberi ituma robot ishobora kuzamuka ibyuma byoroshye cyangwa kugendana amabati atose atIcyo ari cyo cyoseerera. Ababikora akenshi bashiramo iyi nzira hamwe nibikoresho byihariye kugirango barwIcyo ari cyo cyosee amavuta, acide, nubushyuhe bwinshi, bareba ko rubber robot ntugapfobye mugihe uhuye nimiti ikaze ikunze kuboneka mumasoko yinganda cyangwa ahabikwa imiti.
Guhuza Imbaraga hamwe na Robo Yimodoka YikurikirIcyo ari cyo cyosea
Igice cya nyuma cya lokomisiyo ni guhuza ibikorwa-byo hejuru ibiziga bya robot . Izi ntabwo ari ibiziga gakondo muburyo bukora hasi; Ahubwo, ni amasoko y'imbere n'abadakora bayobora, bahangayitse, kandi batwara inzira ubwayo. IgishushIcyo ari cyo cyoseo cya ibiziga bya robot ni ngombwa mu gukumira "derailment." Uruziga rwo gutwara ibinyabiziga rugomba kugira umwirondoro w amenyo wuzuye uhuza neza nu mitsi yimbere yimbere kugirango wirinde kunyerera, cyane cyane mugihe cyo kuzamuka kwinshi.
Iterambere ikurikiranwa rya robo , ibiziga bidakora akenshi bishyirwa kuri sisitemu yo guhagarika ituma inzira ihuza imiterere yinzitizi irengana. Uru rugendo "ruhuza" rwemeza ko umubare ntarengwa wo gukandagira ukomeza guhura nubutaka igihe cyose. Byongeye kandi, ibikoresho byakoreshejwe kuri ibiziga bya robot —akenshi ultra-high-molecular-uburemere (UHMW) plastike cyangwa aluminiyumu ya anodize - ihitamo kugabIcyo ari cyo cyosea ibiro no guterana amagambo. MugabIcyo ari cyo cyosee imbaraga zimbere ziterIcyo ari cyo cyosea ibiziga-bikurikirana, injeniyeri zirashobora kongera igihe cya bateri ya robo, bigatuma ubutumwa bwogukora igihe kirekire mubigo binini byo munsi y'ubutaka cyangwa kuri kilometero z'umuyoboro.
Imiterere yinganda zigezweho zuzuyemo ibidukikije bisanzwe byanga abantu.
