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Inkcazelo emfutshane:

Kumhlaba wanamhlanje ohambela phambili ngokukhawuleza wetekhnoloji, ukufika kokuhanjiswa kweerobhothi ezikrelekrele kuyitshintshile indlela esicinga ngayo ngokulula kunye nokusebenza kakuhle. Aba matshini bakrelekrele baguqula amashishini ahlukeneyo, kubandakanya ihotele kunye necandelo lokutyela, apho bathatha indima yerobhothi ezizisebenzelayo ukuhanjiswa kokutya. Ngobuchule bazo obuphambili, ezi robhothi zikrelekrele ziba yimpahla eyimfuneko kumashishini ajonge ukomeleza imisebenzi yawo kunye nokubonelela ngenkonzo yabathengi ephezulu.

Iihotele kunye neendawo zokutyela aziqhelekanga kwimicelimngeni yokubonelela ngeenkonzo ezikhawulezayo nezichanekileyo zokuhanjiswa kokutya. Nangona kunjalo, ngokungeniswa kweerobhothi ezikrelekrele kwimisebenzi yazo, ezi zakhiwo ngoku zifumana izisombululo ezitsha zokuhlengahlengisa iinkqubo zazo kwaye zigqithise ulindelo lwabathengi. Ukudityaniswa kweerobhothi ezizisebenzelayo kwiinkqubo zokuhanjiswa kokutya kukutshintsha umdlalo, obonelela ngeenzuzo ezininzi kumashishini nakubathengi ngokufanayo.

Okokuqala kunye nokuphambili, ezi robhothi zihlakaniphile zenzelwe ukuhamba kwiindawo ezinzima ngokulula. Zixhotyiswe ngee-sensor eziphambili kunye ne-algorithms, ziyakwazi ukuhamba ngokuzimeleyo kwiindawo ezixineneyo, zithintela imiqobo kunye nokuhambisa iiodolo ngexesha elifanelekileyo. Oku kuphelisa imfuneko yokungenelela kwabantu ekuhambeni kwiipaseji zehotele ezintsonkothileyo okanye imigangatho yokutyela ephithizelayo, eqinisekisa inkonzo yonikezelo engenamthungo nesebenzayo.

Ngaphezu koko, iirobhothi ezizisebenzelayo zibonelela ngokuchaneka okuphuculweyo kunye nokuchaneka ekuhambiseni iiodolo. Zicwangciswe ukuqinisekisa ukuba iodolo nganye ithuthwa ngononophelo ukusuka ekhitshini ukuya kwigumbi elichongiweyo okanye itafile, ngaphandle kokuphazamiseka okanye ukuphazamiseka. Oku kunciphisa amathuba eempazamo zabantu okanye ukuchitheka, ukugcina umgangatho kunye nomboniso wokutya okunikezelwayo. Abathengi banokuba noxolo lwengqondo besazi ukuba iiodolo zabo ziya kufika zinjalo kwaye zikwimeko entle.

Ukudityaniswa kweerobhothi ezikrelekrele nako konyusa amava omthengi ngokubanzi. Aba matshini bakrelekrele baxhotyiswe ngee-touchscreens ezisebenzayo, ezivumela abathengi ukuba babeke iiodolo zabo ngokuthe ngqo kwiirobhothi. Oku kuphelisa imfuneko yeengxoxo zefowuni ezinde okanye ukulinda umncedisi ukuba athathe umyalelo, ukukhawuleza inkqubo kunye nokunciphisa ukukhungatheka kwabathengi. Ngokucofa nje okumbalwa kwesikrini, abathengi banokwenza ngokwezifiso ukutya kwabo, bachaze izithintelo zokutya, kwaye bahlawulele iiodolo zabo, bebonelela ngamava angenamthungo nafanelekileyo.

Iihotele kunye neendawo zokutyela ezisebenzisa iirobhothi ezizenzelayo zikwaxhamla ekwandeni kokusebenza ngokufanelekileyo. Ezi robhothi zinokuphatha iiodolo ezininzi ngaxeshanye, ukunciphisa amaxesha okulinda kunye nokwenza ukuba amashishini akhonze inani elikhulu labathengi ngexesha elifutshane. Ngokusebenza kwazo okungaguqukiyo kunye nokusebenza ngokufanelekileyo, iirobhothi ezikrelekrele zinegalelo ekuphuculeni ukusebenza kweshishini, zivumela abasebenzi ukuba bagxile kweminye imisebenzi ebalulekileyo, efana nokulungiswa kokutya kunye nenkonzo yabathengi.

Ukuqukumbela, ukuvela kokuhanjiswa kweerobhothi ezikrelekrele kwishishini lehotele kunye nevenkile yokutyela ngokwenene ngumtshintshi womdlalo. Ukusuka ekunikezeni ukuhanjiswa okukhawulezayo nokuchanekileyo ukuya ekwandiseni amava omthengi ngokubanzi, aba matshini bakrelekrele benza utshintsho kwindlela amashishini asebenza ngayo. Njengoko itekhnoloji iqhubela phambili, sinokulindela ukubona uphuhliso olungakumbi kubuchule beerobhothi ezizisebenzelayo, zibenza babe yinxalenye ebalulekileyo yobubele kunye namava okutya.


Iinkcukacha zeMveliso

Iithegi zeMveliso

Iinkcukacha

Siyiqonda ngokubanzi irobhothi ebizwa ngokuba yingqondo ekrelekrele, yaye eyona nto ichukumisayo kukuba “isidalwa esiphilayo” esikwaziyo ukuzeyisa. Enyanisweni, amalungu aphambili esi “sidalwa siphilayo” esizilawulayo asiyonto ithambileyo yaye intsonkothile njengabantu bokwenene.

Iirobhothi ezikrelekrele zineentlobo ngeentlobo zezivamvo zolwazi zangaphakathi nangaphandle, ezinjengokubona, ukuva, ukubamba, kunye nokujoja. Ukongeza ekubeni ne-receptors, ikwanazo neempembelelo njengendlela yokusebenza kwindawo engqongileyo. Lo sisihlunu, owaziwa ngokuba yi-stepper motor, ehambisa izandla, iinyawo, impumlo ende, i-eriyali, njalo njalo. Ngokusuka koku, kunokubonwa ukuba iirobhothi ezikrelekrele kufuneka zibe nezinto ezintathu ubuncinci: izakhi zoluvo, izinto zokusabela kunye nezinto zokucinga.

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Sibhekisela kolu hlobo lwerobhothi njengerobhothi ezizimeleyo ukuyahlula kwiirobhothi ezikhankanywe ngaphambili. Sisiphumo se-cybernetics, exhasa inyaniso yokuba ubomi kunye nokuziphatha okungenanjongo ebomini kuyahambelana kwiinkalo ezininzi. Njengomenzi werobhothi okrelekrele wake wathi, irobhothi yinkcazo esebenzayo yenkqubo enokufunyanwa kuphela ekukhuleni kweeseli zobomi kwixesha elidlulileyo. Ziye zaba yinto esinokuzenza ngokwethu.

Iirobhothi ezikrelekrele zinokuluqonda ulwimi lwabantu, zinxibelelane nabasebenzisi zisebenzisa ulwimi lwabantu, kwaye zenze ipateni eneenkcukacha yemeko yokwenyani "kwingqondo" yazo ebenza bakwazi "ukusinda" kwimekobume yangaphandle. Iyakwazi ukuhlalutya iimeko, ilungelelanise izenzo zayo ukuze ihlangabezane nazo zonke iimfuno ezibekwe ngumqhubi, iqulunqe izenzo ezifunwayo, kwaye igqibezele ezi zenzo kwiimeko zolwazi olunganeleyo kunye nokutshintsha ngokukhawuleza kwendalo. Kakade ke, akunakwenzeka ukuba siyenze ifane neengcinga zethu zobuntu. Nangona kunjalo, kusekho iinzame zokuseka 'ihlabathi elincinci' elinokuthi liqondwe ziikhompyutha.

Ipharamitha

Ukuhlawula

100kg

Inkqubo yokuqhuba

2 X 200W hub motors - umahluko drive

Isantya esiphezulu

1m/s (isoftware ilinganiselwe - izantya eziphezulu ngesicelo)

I-odometery

I-odometery yesivamvo seHolo ichanekileyo ukuya kwi-2mm

Amandla

7A 5V DC amandla 7A 12V DC amandla

Ikhompyuter

I-Quad Core ARM A9-Raspberry Pi 4

Isoftware

Ubuntu 16.04, iROS Kinetic, iCore Magni Packages

Ikhamera

Ujonge phezulu omnye

Ukukhangela

Ukukhangela okusekwe kwiCeiling fiducial

Ipakethe yoluvo

Uluhlu lwee-sonar ezi-5

Isantya

0-1 m/s

Ukujikeleza

0.5 rad/s

Ikhamera

Imodyuli yeRaspberry Pi yeKhamera yeV2

Sonar

5x hc-sr04 sonar

Ukukhangela

ukuhamba kwesilingi, i-odometry

Uqhagamshelwano/Izibuko

wlan, Ethernet, 4x USB, 1x molex 5V, 1x molex 12V, 1x iribhoni intambo epheleleyo gpio socket

Ubungakanani (w/l/h) nge-mm

417.40 x 439.09 x 265

Ubunzima ngekg

13.5


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