Ururimi Iyo ibiza bibaye - haba umutingito, gusenyuka kw'imiterere, cyangwa imiti yangiza imiti - ibidukikije bihinduka labyrint itateganijwe y’imyanda yangiritse, imyuka idahungabana, hamwe n’ahantu hakeye. Muri ibi bihe byinshi, kugenda kwabashubije bwa mbere akenshi bigarukira kubibazo byumubiri. Aha niho abakanishi kabuhariwe ba caterpillar tracks za robo ube umusingi usanzwe wibikorwa bigezweho byo gushakisha no gutabara. BitandukIcyo ari cyo cyosee na bagenzi be bafite ibiziga birwanira hamwe no kurohama cyane, a inzira ya robo Sisitemu itanga ubuso bwubuso bukenewe kugirango uhindure imashini muburyo bwo kurokoka kwisi yose.
Imyifatire Yibanze Yumukino wa robot ikomeza
Kumva impamvu a ikurikiranwa rya robo ni zahabu isanzwe yo guhangana n’ibiza, umuntu agomba kureba ikwirakwizwa ryumuvuduko wubutaka. Mu butumwa bwo gutabara, "ubutaka" ntibukomeye; akenshi ni uruvange rwa kaburimbo irekuye, ikirahure kimenetse, hamwe no kubika neza. Imashini ifite uruziga yibanda kuri misa yayo yose uko ari ine. Ku myanda yoroshye cyangwa itaringaniye, uyu muvuduko mwinshi utera ibiziga gucukumbura, bikomora neza robot mu mwIcyo ari cyo cyosea.
Imashini ya robo gukemura ibi ukoresheje ihame ryo gukwirakwiza imitwaro. Ukoresheje umugozi uhoraho utwarwa nisoko ryimbere, uburemere bwa robot bukwirakwizwa muburebure bwose bwikirenge. Umuvuduko muke wubutaka utuma imashini "ireremba" hejuru yinzitizi zamira ipine gakondo. Byongeye kandi, inyungu ya mashini ya inzira ya robo aryamye mumurongo muremure. Kuberako "grousers" cyangwa gukandagira byinshi bihura nubuso icyarimwe, robot irashobora gukurura gukurura cyane, ikayemerera kuzamuka hejuru ya beto cyangwa gukurura ibyuma biremereye hamwe numuyoboro uhuza umurongo unyuze muburyo bworoshye.
Ubumenyi bwibikoresho na Shift kuri Rubber Tank Track ya Robo
Mu minsi ya mbere ya robo, ibishushIcyo ari cyo cyoseo byinshi byagurijwe cyane mu bigega bya gisirikare, hakoreshejwe ibyuma biremereye. Ariko, gushakisha no gutabara, uburemere no kunyegIcyo ari cyo cyoseega ni abanzi bakomeye. Kugaragara kwimbaraga nyinshi rubber tank inzira ya robo yahinduye umurima. Iyi nzira isanzwe igizwe nimbaraga zoguhuza imbaraga, akenshi zinjizwamo ibyuma byimbere cyangwa imigozi ya Kevlar kugirango birinde kurambura mugihe bikomeza guhinduka.
Guhitamo reberi ntabwo ari ukugabIcyo ari cyo cyosea ibiro gusa. Mu mujyi wo gushakisha no gutabara mu mujyi (USAR), robot ikenera kunyura hejuru yoroheje cyangwa yoroheje, nka marble isennye muri lobby yaguye cyangwa icyuma gitose mu ruganda. Mugihe ibyuma bishobora kunyerera cyangwa kwangiza uburinganire bwububiko busigaye, rubber tank inzira ya robo tanga coefficient yo hejuru yo guterana amagambo. Ubworoherane bwa reberi butuma inzira "ihuza" gato na micro-geometrie yimyanda, "gufata" neza impande zamatafari nimiyoboro. Iyi "mashini ya mashini" niyo yemerera a ikurikiranwa rya robo kuzamuka ku ngazi cyangwa kugendagenda kuri dogere 45 z'imyanda irekuye itIcyo ari cyo cyoseerera inyuma.
Navigational Geometry muri robot ikurikiranwa
A ikurikiranwa rya robo ni gake cyane agasanduku kumukandara ibiri. Ubukanishi buhanitse burimo "flippers" cyangwa sub-track modules yemerera robot guhindura imiterere yayo. Iyi ni intambwe ikomeye yubwihindurize muri caterpillar tracks za robo . Mugusobanura ibice byimbere cyangwa inyuma byumuhanda, robot irashobora kugera hejuru kugirango ifate inkombe yumurongo muremure cyangwa kwagura ibiziga byayo kugirango ikureho intera nini hagati yibice bibiri byaguye hasi.
Ihindagurika rya geometrike ryemeza ko hagati yingufu zikomeye ziguma mu kirenge cy’imihanda ndetse no mu gihe gikabije. Mu gushakisha no gutabara, intego ni ugutanga kamera cyangwa sensor ya karubone mu "mwIcyo ari cyo cyosea wubusa" aho abarokotse bashobora kugwa mu mutego. Niba robot irengereye, ubutumwa burarangira. UmwIcyo ari cyo cyosea mugari hamwe nu mwirondoro muto urimo robot tank tanga uburyo busanzwe butajegajega burwIcyo ari cyo cyosea guhanagura, kabone niyo robot itwara ibikoresho biremereye bya LIDAR cyangwa amaboko ya robo hejuru.
Kunesha Ubuvanganzo bwo Kunyerera no kuyobora in Imashini yimashini
Kimwe mu bintu bigoye cyane bya mashini ya robot tank ni uburyo bwo kuyobora. BitandukIcyo ari cyo cyosee n’imodoka zikoresha rack-na pinion kugirango zihindure ibiziga, robot nyinshi zikurikiranwa zikoresha "skid-steering". Ibi birimo gutwara inzira imwe kurenza iyindi cyangwa guhindura inzira imwe mugihe indi igenda imbere. Mugihe ibi byemerera radiyo zeru-ingenzi muburyo bukomeye, claustrophobic imipaka yinyubako yaguye - bitera impungenge zikomeye kuruhande inzira ya robo ubwayo.
Abakanishi b'imbere bagomba kuba bakomeye bihagije kugirango bakemure izo mbaraga zo kogosha. Niyo mpanvu intera iri hagati ya disiki ya drake na track lugs ikozwe neza. Muri a ikurikiranwa rya robo , "ikibuga" cy'umuhanda kigomba kuguma gihamye nubwo haba hari impagarara nyinshi kugirango wirinde "de-track" (inzira igwa kumuziga). Imashini za kijyambere zo gutabara zikunze kugaragaramo sisitemu yo kwikuramo ikoresha amasoko cyangwa hydraulic actuator kugirango ikomeze caterpillar tracks za robo taut, kwemeza ko niyo urutare rwaba ruteranijwe mu nteko yo gutwara, inzira ikomeza kuba yicaye kandi ikora.
Kuramba no Kubungabunga Bya Imashini yimashini Mubidukikije
Ibidukikije byubutumwa bwubutabazi birababaje kandi byumubiri. Umukungugu uva muri beto isukuye ikora nka sandpaper ku bice byimuka, kandi amazi ahagaze arashobora kwangirika imbere. IgishushIcyo ari cyo cyoseo cya rubber tank inzira ya robo akenshi ikubiyemo "kwikuramo" uburyo bwo gukandagira. Izi ni inguni zifata imikoreshanoze isanzwe ya reberi mugihe izengurutsa isoko kugirango isohore ibyondo n'amabuye mato ubundi byangiza imikorere.
Byongeye kandi, imiterere ifunze ya tronc imbere yimbere ni ngombwa. Kubera ko a ikurikiranwa rya robo Birashobora gukenera kwinjira mubutaka bwuzuye cyangwa kwimuka binyuze mumuriro-wo kuzimya umuriro, pivot ya mashini mumurongo wikurikiranwa akenshi iba ifunze kashe ya O-ring. Uwiteka inzira ya robo ikora nk'umurongo wa mbere wo kwirwanaho, ikurura ingaruka za rebar zometse hamwe nikirahure kimenetse kugirango ibikoresho bya elegitoroniki byoroshye bikubiye muri chassis bikomeze kurindwa kunyegIcyo ari cyo cyoseega gukabije kwurugendo.
Iyo ibiza bibaye – haba umutingito, gusenyuka kw’imiterere, cyangwa imiti yangiza imiti – ibidukikije bihinduka labyrint itateganijwe y’imyanda yangiritse, imyuka idahungabana, hamwe n’ahantu hakeye.
