1,Gabatarwa
Ultrasonic jeriwata dabara ce ta ganowa ba tare da tuntuɓar juna ba wacce ke amfani da raƙuman ruwa na ultrasonic da ke fitowa daga tushen sauti, kuma igiyar ultrasonic tana nuna baya ga tushen sauti lokacin da aka gano cikas, kuma ana ƙididdige nisa na cikas bisa saurin yaduwa na saurin. sauti a cikin iska. Saboda kyakkyawan jagorar sa na ultrasonic, hasken da launi na abin da aka auna ba ya shafar shi, don haka ana amfani da shi sosai wajen guje wa cikas na mutum-mutumi. Na'urar firikwensin zai iya fahimtar tsayayyen cikas ko tsangwama a kan hanyar tafiya na mutum-mutumi, kuma ya ba da rahoton nesa da bayanin jagorar cikas a cikin ainihin lokaci. Robot na iya aiwatar da aikin na gaba daidai gwargwadon bayanin.
Tare da saurin haɓaka fasahar aikace-aikacen mutum-mutumi, mutummutumi a fagagen aikace-aikace daban-daban sun bayyana a kasuwa, kuma an gabatar da sabbin buƙatu don na'urori masu auna firikwensin. Yadda za a daidaita da aikace-aikacen mutum-mutumi a fagage daban-daban matsala ce ga kowane injiniyan firikwensin yin tunani da bincike.
A cikin wannan takarda, ta hanyar aikace-aikacen firikwensin ultrasonic a cikin robot, don ƙarin fahimtar amfani da firikwensin gujewa cikas.
2,Gabatarwar Sensor
A21, A22 da R01 sune na'urori masu auna firikwensin da aka ƙera bisa aikace-aikacen sarrafa robot ta atomatik, tare da jerin fa'idodi na ƙaramin yanki na makafi, daidaitawar ma'auni mai ƙarfi, ɗan gajeren lokacin amsawa, tsangwama tacewa, haɓakar shigarwa mai ƙarfi, mai hana ƙura da hana ruwa, tsawon rayuwa da babban abin dogaro. , da dai sauransu. Suna iya daidaita na'urori masu auna firikwensin tare da sigogi daban-daban bisa ga na'urori daban-daban.
Hotunan samfur A21, A22, R01
Abstract na aiki:
• fadi da irin ƙarfin lantarki wadata, aiki ƙarfin lantarki3.3 ~ 24V;
Yankin makafi na iya zuwa mafi ƙarancin 2.5cm;
Za'a iya saita kewayon mafi nisa, jimlar matakin matakin 5 na 50cm zuwa 500cm ana iya saita shi ta hanyar umarni;
• Akwai nau'ikan nau'ikan fitarwa iri-iri, UART auto / sarrafawa, PWM sarrafawa, canza ƙarar matakin TTL (3.3V), RS485, IIC, da sauransu. (UART sarrafawa da amfani da wutar lantarki na PWM na iya tallafawa amfani da wutar lantarki mai ƙarancin ƙarfi≤5uA)
•Tsohuwar ƙimar baud shine 115,200, yana goyan bayan gyara;
• Lokacin amsa matakin Ms, lokacin fitar da bayanai zai iya zuwa 13ms cikin sauri;
Za'a iya zaɓar kusurwa ɗaya da biyu, jimlar matakan kusurwa huɗu ana tallafawa don yanayin aikace-aikacen daban-daban;
• Gina-in aikin rage amo wanda zai iya tallafawa saitin matakin rage yawan amo;
• Fasahar sarrafa sautin murya mai hankali, ginanniyar fasaha ta algorithm don tace tsangwama da raƙuman sauti, na iya gano tsangwama da raƙuman sauti da kuma yin tacewa ta atomatik;
• Tsarin tsarin ruwa mai hana ruwa, sa mai hana ruwa IP67;
• Ƙarfafa ƙarfin shigarwa, hanyar shigarwa yana da sauƙi, barga kuma abin dogara;
• Goyi bayan haɓaka firmware mai nisa;
3,Siffofin samfur
(1)Asali sigogi
(2)Kewayon ganowa
Firikwensin kauracewa cikas na Ultrasonic yana da nau'in kusurwa biyu na zaɓi, Lokacin da aka shigar da samfurin a tsaye, kusurwar gano madaidaiciyar hagu da dama tana da girma, na iya haɓaka kewayon kewayon gujewa cikas, ƙaramin kusurwar gano jagora a tsaye, iri ɗaya. lokaci, yana nisantar kuskuren faɗakarwa sakamakon rashin daidaituwar saman hanya yayin tuki.
Zane na kewayon ma'auni
4,Shirye-shiryen fasaha na guje wa cikas na Ultrasonic
(1) Tsarin tsarin hardware
(2)Tsarin aiki
a、 Na'urar firikwensin yana aiki ne ta hanyoyin lantarki.
b、 The processor fara kai dubawa don tabbatar da cewa kowane da'irar aiki kullum.
c, The processor kai-duba don gane ko akwai wani ultrasonic guda-mita tsangwama siginar a cikin yanayi, sa'an nan tace da kuma aiwatar da baki sauti tãguwar ruwa a cikin lokaci. Lokacin da ba za a iya ba da ƙimar nisa daidai ga mai amfani ba, ba da bayanan alamun da ba na al'ada ba don hana kurakurai, sannan tsalle zuwa tsarin k.
d、 The processor aika umarni zuwa boost excitation bugun jini kewaye don sarrafa tashin hankali tsanani bisa ga kwana da kewayo.
e, Binciken ultrasonic T yana watsa siginar sauti bayan aiki
f, Binciken ultrasonic R yana karɓar siginar sauti bayan aiki
g、 Ana ƙara siginar ƙararrawar siginar ƙara ta da'irar siginar siginar kuma an dawo da ita zuwa mai sarrafawa.
h、 Ana mayar da siginar da aka haɓaka zuwa na'ura mai sarrafawa bayan an tsara shi, kuma ginanniyar fasaha ta algorithm tana tace fasahar igiyar sauti ta tsoma baki, wanda zai iya tantance ainihin manufa.
i、 Da'irar gano yanayin zafi, gano bayanin yanayin yanayin waje na mai sarrafawa
j、 Mai sarrafawa yana gano lokacin dawowar echo kuma yana rama yanayin zafin jiki tare da yanayin yanayi na waje, yana ƙididdige ƙimar nisa (S = V * t/2).
k、 Mai sarrafawa yana watsa siginar da aka ƙididdigewa ga abokin ciniki ta layin haɗin kuma ya dawo zuwa a.
(3)Tsarin tsangwama
Duban dan tayi a fagen aikin mutum-mutumi, zai fuskanci hanyoyin tsangwama iri-iri, kamar surutun wutar lantarki, digo, hawan jini, wucin gadi, da dai sauransu. Tsangwamawar Radiation na da'irar sarrafa mutum-mutumi na cikin gida da motar. Ultrasound yana aiki tare da iska a matsayin matsakaici. Lokacin da mutum-mutumi ya sanye da na'urori masu auna firikwensin ultrasonic da yawa kuma robots da yawa suna aiki kusa da lokaci guda, za a sami siginonin ultrasonic da yawa waɗanda ba na asali ba a cikin sarari da lokaci guda, kuma kutsawar juna tsakanin mutummutumin zai kasance mai tsanani sosai.
Dangane da waɗannan matsalolin tsangwama, na'urar firikwensin da aka gina a cikin fasahar daidaitawa mai sassauƙa, na iya tallafawa saitin matakin rage amo na 5, ana iya saita matattarar tsangwama iri ɗaya, za'a iya saita kewayon da kusurwa, ta amfani da echo filter algorithm, yana da. mai karfi anti-tsama baki ikon.
Bayan dakin gwaje-gwaje na DYP ta hanyar hanyar gwaji mai zuwa: yi amfani da na'urori masu gujewa cikas na ultrasonic 4 don shinge ma'auni, kwaikwayi yanayin aiki na na'ura da yawa, rikodin bayanan, daidaiton bayanan ya kai sama da 98%.
Jadawalin gwajin fasahar hana tsangwama
(4) An daidaita kusurwar katako
Ƙaƙwalwar firikwensin firikwensin firikwensin software yana da matakan 4: 40,45,55,65, don biyan buƙatun aikace-aikacen yanayi daban-daban.
5,Shirye-shiryen fasaha na guje wa cikas na Ultrasonic
A fagen aikace-aikacen gujewa cikas na mutum-mutumi, firikwensin shine idon mutum-mutumi, Ko robot na iya motsawa cikin sassauƙa kuma cikin sauri ya dogara ne akan bayanan auna da firikwensin ya dawo. A cikin nau'in nau'in na'urori masu gujewa toshe na ultrasonic, abin dogaro ne da samfuran gujewa cikas tare da ƙarancin farashi da ƙarancin sauri, ana shigar da samfuran a kusa da robot, sadarwa tare da cibiyar sarrafa robot, fara na'urori masu auna sigina daban-daban don gano nesa gwargwadon motsin motsi. na robot, cimma saurin amsawa da buƙatun gano buƙatu. A halin yanzu, na'urar firikwensin ultrasonic yana da babban kusurwar filin FOV don taimakawa injin ya sami ƙarin sararin auna don rufe yankin da ake buƙata kai tsaye a gabansa.
6,Babban mahimman bayanai na aikace-aikacen firikwensin ultrasonic a cikin makircin gujewa cikas na robot
• Ultrasonic hana hana radar FOV yayi kama da zurfin kamara, farashin kusan 20% na kyamarar zurfin;
• Cikakken daidaitaccen matakin milimita, mafi kyawun kyamarar zurfin;
• Sakamakon gwajin ba ya shafar launi na waje na waje da ƙarfin haske, ana iya gano cikas na kayan abu na gaskiya, kamar gilashi, filastik mai haske, da dai sauransu;
• Kyauta daga ƙura, sludge, hazo, acid da alkali yanayi tsangwama, babban abin dogara, damuwa-ceton, ƙarancin kulawa;
• Ƙananan girman don saduwa da mutum-mutumi na waje da ƙirar ƙira, ana iya amfani da su zuwa yanayi iri-iri na na'urori masu amfani da sabis, don biyan buƙatun abokan ciniki daban-daban, rage farashi.
Lokacin aikawa: Agusta-16-2022