IBhodi yoLawulo lweRobhothi yoShishino
Iinkcukacha
Ibhodi yokulawula ixhotyiswe ngeempawu ezahlukeneyo kunye namacandelo enzelwe ukuqinisekisa ulawulo oluthembekileyo nolusebenzayo kwirobhothi.Enye yezinto eziphambili yi-microcontroller okanye iprosesa, esebenza njengengqondo yenkqubo.Isebenzisa idatha engenayo, iphumeze imiyalelo, kwaye ivelise imiqondiso eyimfuneko yokulawula iimotor zerobhothi kunye ne-actuators.
Abaqhubi beemoto lelinye icandelo elibalulekileyo lebhodi yolawulo.Aba baqhubi baguqula iimpawu ezisezantsi ukusuka kwi-microcontroller ukuya kwiimpawu eziphezulu zamandla ezifunekayo ukuqhuba iimotor zerobhothi.Ibhodi yokulawula iphinda ifake izinzwa ezahlukeneyo ukubonelela ngengxelo yexesha langempela kunye nolwazi malunga nendawo yerobhothi, isantya kunye neemeko zokusingqongileyo.Oku kuvumela ulawulo oluchanekileyo kunye nokuqinisekisa ukuba irobhothi inokuhamba ngokukhuselekileyo kwindawo eyingqongileyo.
Unxibelelwano lonxibelelwano lolunye uphawu olubalulekileyo lwebhodi yolawulo.Olu nxibelelwano luvumela unxibelelwano olungenamthungo phakathi kwebhodi yokulawula kunye nezixhobo zangaphandle ezifana neekhomputha, abalawuli bee-logical logic (PLCs), kunye ne-human-machine interfaces (HMIs).Oku kuququzelela inkqubo, ukubeka iliso kude, kunye notshintshiselwano lwedatha, ukuphucula ukuguquguquka ngokubanzi kunye nokusebenziseka kwerobhothi yezoshishino.
Ibhodi yokulawula ihlala ibandakanya iimpawu zokhuseleko ukukhusela irobhothi, indawo eyingqongileyo kunye nabaqhubi.Ezi mpawu zingabandakanya amaqhosha okumisa unxunguphalo, i-interlocks yokhuseleko, kunye neendlela zokubona iimpazamo.Kwimeko yokungasebenzi kakuhle okanye ukuphulwa kokhuseleko, ibhodi yokulawula inokuphendula ngokukhawuleza ukuqinisekisa ukuba i-robot ifika ime kwaye igweme nayiphi na ingozi.
Kwiibhodi zolawulo oluphezulu, iimpawu ezongezelelweyo ezifana neenkqubo zokusebenza zexesha langempela, i-algorithms yokucwangcisa intshukumo, kunye nezakhono zobukrelekrele bokwenziwa zingabandakanywa.Ezi mpawu zenza ukuba kube lula ukulawula irobhothi, ukuphucula ukusebenza kwayo kakuhle, ukuchaneka, kunye nokuguquguquka kwimisebenzi enzima.
Ngokubanzi, iBhodi yoLawulo lweRobhothi yezoShishino licandelo elibalulekileyo elidibanisa zonke izakhono eziyimfuneko zokulawula, ukulungelelanisa, kunye nokubeka iliso ekusebenzeni kweerobhothi zamashishini.Ngokubonelela ngolawulo oluchanekileyo, amanyathelo okhuseleko, kunye nezakhono zonxibelelwano, iqinisekisa ukusebenza kakuhle kunye nemveliso kwiindawo zoshishino.
Iingenelo
1. Inqanaba eliphantsi Iqonga lolawulo lijolise ekuqondeni imisebenzi esisiseko, izikhombisi zentsebenzo ngokusisiseko zihlangabezana neemfuno, kwaye i-scalability ihlwempuzekile;emelwe yi-Arduino kunye ne-Raspberry PI, i-interface ye-peripheral iqonda i-modular splicing, isixa sekhowudi ye-software iyancitshiswa, kwaye iimfuno ezisisiseko zomsebenzi zinokufezekiswa, eziphezulu kumgangatho kunye nexabiso eliphantsi.
2. I-platform yokulawula inqanaba eliphakathi lisebenzisa i-DSP + FPGA okanye i-STM32F4 okanye i-F7 uchungechunge njengesiseko soyilo lokuyila iqonga lolawulo.Iyakwazi ukuhlangabezana nayo yonke imisebenzi esisiseko, kwaye kwangaxeshanye, kukho igumbi elikhulu lokuphucula ekufezekisweni komgangatho, izikhombisi zokusebenza, kunye ne-algorithms yokulawula.Uyilo lwesekethe yojongano lweperipheral okanye imodyuli yokudibanisa imisebenzi ethile, inani lekhowudi yesoftware inkulu, kwaye izimele ngokupheleleyo.
3. I-high-level control platform isebenzisa i-industrial computer njenge-core control system, kwaye isebenzisa amakhadi okufumana idatha ukuze ufunde kwaye ulungiselele idatha yokuva kunye nokuqhubela phambili ulwazi.Ukuqaphela ngokupheleleyo ukudityaniswa kwemodyuli, kufuneka kuphela ukwenza uqwalaselo lwesoftware, akukho teknoloji ingundoqo, ixabiso eliphezulu.
