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Tsarin Haɗin Kai na Tsinkaya don Roba da Wayar Hanyar Hikima bisa Sadarwar Haske da ake iya Gani

Nunin tsarin tsinkaya na haɗin kai mai inganci, na ainihi don mutane da robobi ta amfani da Sadarwar Haske da ake iya Gani (VLC) da kyamarorin wayar hannu.
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1. Bayyani Gabaɗaya

Tsinkaya a cikin gida yana fuskantar ƙalubale masu mahimmanci saboda toshewar siginar ta bangon, wanda ke sa fasahohin gargajiya kamar GPS su zama marasa tasiri tare da manyan kurakurai. Haɗuwar fitilar LED da ke ko'ina da na'urori masu ƙima mai girma (CMOS sensors) a cikin wayoyin hannu ya haifar da haɓaka Tsinkayar Haske da ake iya Gani (VLP). Wannan tsarin yana ɓoye bayanan (ID)-matsayin cikin siginar da aka daidaita ta amfani da Na'urar Sarrafa Microcontroller (MCU), yawanci yana amfani da Maɓallin Kashewa-Kashewa (OOK) don daidaita fitilun LED. Tashar karɓa, ta yin amfani da tasirin rufewa na na'urori masu ƙima (CMOS sensors), tana ɗaukar yanayin kashewa da kunna LED a matsayin ratsi masu haske da duhu, yana ba da damar ƙimar bayanai da ta wuce ƙimar firam ɗin bidiyo don Sadarwar Kyamara ta Gani (OCC). Ana sanya Ma'anar Musamman (UID) na kowane LED zuwa wurin zahiri a cikin ma'ajin bayanai, yana ba da damar na'ura ta ƙayyade matsayinta ta hanyar warware waɗannan ratsi.

Duk da yake aikin da ya gabata ya sami ingantaccen tsinkaya na wayoyin hannu ko robobi daban-daban (misali, 2.5 cm don robobi ta amfani da LED guda ɗaya da SLAM), yanayi kamar kayan aikin ajiya da ayyukan kasuwanci suna buƙatar tsinkayar haɗin kai tsakanin mutane (masu wayoyin hannu) da robobi. Wannan yana buƙatar raba wuri da bin diddigin juna na ainihi a cikin yanayi mai motsi, maras tsinkaya, yana gabatar da ƙalubale mai ma'ana kuma mai mahimmanci.

2. Ƙirƙira

Babban ƙirƙira na wannan aikin shine gabatarwa da tabbatar da gwaji na tsarin tsinkaya na haɗin kai guda ɗaya don wayoyin hannu da robobi ta amfani da VLC. Manyan gudummawar sune:

  1. Ƙirar Tsarin Aiki: Tsarin tsinkaya na haɗin kai na VLC mai inganci wanda zai iya dacewa da yanayin haske daban-daban da matsayin karkatar da wayar hannu, yana haɗa tsare-tsare na VLP da yawa.
  2. Aiwartar Tsarin: Tsarin da aka gina inda ake iya samun wuraren ainihi na wayoyin hannu da robobi kuma ana iya ganin su akan fuskar wayar hannu.
  3. Tabbitar Gwaji: Mayar da hankali kan kimanta ingancin gane ID, ingancin tsinkaya, da aikin ainihi don tabbatar da ingancin tsarin.

3. Bayanin Nunin

Tsarin nunin ya ƙunshi manyan sassa guda biyu: masu watsa LED da aka daidaita da tashoshi masu karɓar matsayi (wayoyin hannu/robobi).

3.1 Tsarin Tsarin Aiki

Tsarin gwajin ya ƙunshi masu watsa LED guda huɗu da aka ɗora akan faranti masu lebur, suna watsa bayanan matsayinsu da aka riga aka ƙirƙira. Na'urar da'ira mai iya daidaitawa tana sarrafa daidaitawar LED. Tashoshin karɓa sune wayoyin hannu (don tsinkayar mutane) da robobi masu ɗauke da kyamarori, dukansu suna iya warware siginonin VLC don tantance wurinsu, kuma ta hanyar tsarin haɗin kai, wurin sauran wakilai a cikin hanyar sadarwa.

3.2 Aiwartar Fasaha

Tsarin yana amfani da kyamara ta wayar hannu a matsayin mai karɓar VLC. Tasirin rufewa shine mabuɗi: yayin da na'urar firikwensin kyamara ke bincike jere bayan jere, LED mai ƙyalli da sauri yana bayyana a matsayin jerin ƙungiyoyi masu haske da duhu a cikin firam ɗin hoto guda ɗaya. Tsarin waɗannan ƙungiyoyi yana ɓoye bayanan lambobi (ID na LED). Ta hanyar danganta ID ɗin da aka warware tare da ma'ajin bayanan taswira da aka riga aka adana wanda ya ƙunshi daidaitattun madaidaitan $(x, y, z)$ na LED, na'urar na iya ƙididdige matsayinta, sau da yawa ta amfani da dabarun lissafi na baya ko kusurwa.

4. Fahimtar Tushe & Ra'ayi na Mai Bincike

Fahimtar Tushe

Wannan takarda ba wani ƙarin ci gaba ne kawai a cikin VLP ba; juyawa ne na dabarun daga ƙayyadaddun wurin na'ura guda ɗaya zuwa fahimtar haɗin kai ta hanyar sadarwa. Marubutan sun gano daidai cewa ainihin ƙimar tsinkaya a cikin gida ba ta buɗewa ba lokacin da robo ya san inda yake, amma lokacin da robo, ma'aikacin ɗan adam, da kuma tagwayen dijital na muhalli duk suna raba fahimtar wuri guda ɗaya, na ainihi. Wannan yana motsa fasahar daga "taimakon kewayawa" zuwa tushen tushe don "Yanar Gizo na Sarari" a cikin saitunan masana'antu da kasuwanci.

Kwararar Ma'ana

Ma'ana tana da ƙarfi amma tana bayyana sarkar dogaro mai mahimmanci. Sharuɗɗan yana da inganci: yi amfani da abubuwan more rayuwa na LED da ke akwai da kyamarorin wayar hannu da ke ko'ina (kamar ra'ayoyin firikwensin "marasa na'ura" da aka bincika a cikin aikin RF-Capture na MIT). Kwararar ita ce: 1) Ƙunshi wuri cikin haske, 2) Warware shi da kyamara, 3) Rarraba wurare a cikin na'urori. Duk da haka, ƙarfin tsarin ya dogara gaba ɗaya akan amincin mataki na 2—warwarewar da ke tushen kyamara—wanda sanannen yana da saukin kamuwa da toshewa, tsangwama na hasken muhalli, da karkatar da na'ura, ƙalubalen da tsarin da ke tushen rediyo kamar Ultra-Wideband (UWB) suka fi juriya a kansu.

Ƙarfi & Kurakurai

Ƙarfi: Tsarin yana da kyakkyawan aiki. Yana amfani da kayan aikin da ke akwai, yana guje wa lasisin bakan, kuma yana ba da ingantaccen inganci na ka'idar (kamar yadda aikin da ke da alaƙa ya nuna ya sami 2.5 cm). Mayar da hankali kan haɗin gwiwar wayar hannu da robo shine bambance-bambancensa mai kashewa, yana magance ainihin buƙatun kasuwa a cikin kayan aiki da haɗin gwiwar ɗan adam da robo (HRC), fanni da ƙungiyoyi kamar Kwamitin Fasaha na IEEE RAS kan Mu'amalar & Haɗin kai na Mutum da Robo suka saka hannun jari sosai.

Kurakurai: Nunin, kamar yadda aka bayyana, yana jin kamar tabbacin ra'ayi a cikin dakin gwaji da aka sarrafa. Takardar ta yi watsi da "yanayi mai sarƙaƙiya kuma maras tsinkaya" da ta yi iƙirarin magancewa. Manyan tambayoyi har yanzu ba a amsa ba: Menene jinkirin raba wurin haɗin kai? Ta yaya yake sarrafa toshewar LED na wucin gadi ga wakili ɗaya? Menene aikin tsarin a ƙarƙashin hasken rana kai tsaye ko tare da tushen haske masu yawa, masu motsi? Ba tare da magance waɗannan ba, da'awar "aikin ainihi" ba ta da lokaci don turawa a duniyar gaske.

Fahimta Mai Aiki

Ga masu ruwa da tsaki a masana'antu: Ku kalli, amma kar ku yi fare da gona tukuna. Wannan shugabanci na bincike yana da mahimmanci. Kamfanoni kamar Siemens (tare da dandalin "Shapes" na sa) da Amazon (a cikin ajiyayyensa) yakamata su sanya ido sosai kan wannan. Matakin da za a iya aiwatarwa shine gwada wannan tsarin ba kawai don inganci ba, amma don amincin da iya daidaitawa a cikin yanayi mai hayaniya, mai motsi. Hanyar haɗin gwiwa, wanda bincike daga shirin 6G Flagship na Jami'ar Oulu ya ba da shawarar, haɗa VLP don ingantaccen inganci a wuraren buɗe ido tare da komawa zuwa Bluetooth Low Energy (BLE) ko firikwensin inertial yayin toshewa, shine yiwuwar hanyar kasuwanci. Ainihin ƙirƙira a nan shine tsarin haɗin kai da kansa; fasahar VLC ta asali za a iya musanya su ko haɗa su da wasu yayin da fannin ya girma.

5. Cikakkun Bayanai na Fasaha & Tsarin Lissafi

Ka'idar tsinkaya ta asali sau da yawa ta ƙunshi lissafin baya. Ana ɗauka kyamara ta wayar hannu tana warware siginoni daga $n$ fitilun LED tare da sanannun matsayi $P_i = (x_i, y_i, z_i)$, kuma tana auna ƙarfin siginar da aka karɓa (RSS) ko kusurwar isowa (AoA) ga kowanne, ana iya ƙididdige matsayin na'urar $P_u = (x_u, y_u, z_u)$.

Don lissafin baya na tushen RSS (gama gari a cikin VLP), ana ba da alaƙa ta dokar murabba'in siffa: $$P_r = P_t \cdot \frac{A}{d^2} \cdot \cos(\theta)$$ inda $P_r$ shine ƙarfin da aka karɓa, $P_t$ shine ƙarfin da aka watsa, $A$ shine yankin mai gano, $d$ shine nisa, kuma $\theta$ shine kusurwar abin da ya faru. Ana ƙididdige nisa $d_i$ zuwa LED na $i$ daga $P_r$. Ana gano matsayin mai amfani ta hanyar warware tsarin lissafi: $$(x_u - x_i)^2 + (y_u - y_i)^2 + (z_u - z_i)^2 = d_i^2, \quad \text{for } i = 1, 2, ..., n$$ Wannan yawanci yana buƙatar $n \ge 3$ don gyara 2D da $n \ge 4$ don 3D.

Daidaitawar OOK da aka ambata tana amfani da tsari mai sauƙi inda ake wakiltar binary '1' ta hanyar yanayin LED KUNNA kuma '0' ta hanyar yanayin KASHEWA a cikin takamaiman lokacin rami, wanda aka daidaita da tasirin rufewa na kyamara.

6. Sakamakon Gwaji & Bayanin Ginshiƙi

Hoto da aka ambata na 1 (Gabaɗayan yanayin gwaji da sakamako): Duk da yake ba a ba da ainihin hoton a cikin rubutun ba, bisa ga bayanin, Hoto na 1 mai yiwuwa yana nuna tsarin dakin gwaji. Zai nuna zane ko hoton daki tare da fitilun LED guda huɗu da aka ɗora a rufin, kowannensu yana aiki azaman mai watsawa. Ana nuna dandalin robo da mutum riƙe da wayar hannu a cikin sarari. Wani shiga ciki ko rufi mai yiwuwa yana nuna allon wayar hannu yana nuna ra'ayin taswira na ainihi. A kan wannan taswirar, an zana gumaka masu wakiltar tsofaffin nodes na LED, robo mai motsi, da wurin wayar hannu da kanta, suna nuna tsinkayar haɗin kai a cikin aiki. Sakamakon da hoton ya nuna shine nasarar, ganin matsayin wakilai da yawa a lokaci guda akan fuska guda.

Rubutun ya bayyana cewa nunin ya tabbatar da inganci mai girma da aikin ainihi. Ko da yake ba a jera takamaiman ƙimar inganci na lambobi (misali, kuskure a cikin santimita) don wannan tsarin haɗin kai na musamman ba, suna nuni ga aikin da ya gabata wanda ya sami ingancin 2.5 cm don VLP na robo kawai, yana nuna cewa fasahar da ke ƙasa tana da ikon yin daidaito mai girma. Da'awar ainihin lokaci tana nuna ƙimar sabunta tsarin ya isa don bin diddigin masu motsi ba tare da wani jinkiri da ake iya gani ba.

7. Tsarin Bincike: Nazarin Lamari Ba tare da Lambar Ba

Yanayi: Zaɓen Oda na Ajiya tare da Ƙungiyoyin Mutum da Robo.

Aiwatar da Tsarin:

  1. Fara Aiki: An sanya fitilun LED a cikin ajiyar kaya a kowane titin ajiya, kowannensu yana watsa ID ɗin yanki na musamman (misali, "Titi-3-Bay-5"). An tura robo mai zaɓe da ma'aikacin ɗan adam tare da app ɗin wayar hannu.
  2. Ƙayyadaddun Wuri na Mutum: Kyamara ta robo da wayar hannu ta ma'aikacin sun warware siginonin LED daban don tantance daidaitattun madaidaitan $(x, y)$ a cikin taswirar ajiyar da aka adana akan babban uwar garken.
  3. Haɗin Kai na Haɗin Kai: Babban uwar garken (ko hanyar sadarwar abokan tarayya) yana gudanar da tsarin haɗin kai. Ma'aikacin ya karɓi jerin zaɓe. Tsarin ya gano cewa abu #1 yana da nisan mita 20 a cikin Titi 2. Ya ƙididdige cewa robo yana kusa a halin yanzu kuma ba a yi amfani da shi ba.
  4. Aiki & Sabuntawa: Tsarin yana aika umarni zuwa robo: "Shiga cikin Titi 2, Bay 4 kuma ku jira." A lokaci guda, yana jagorantar ma'aikacin ɗan adam ta allon wayar hannunsa: "Ci gaba zuwa Titi 5. Robo yana dawo da abunku na farko." Nunin wayar hannu na ma'aikacin yana nuna wurinsu da kuma gumakan motsi na ainihi na robo yana gabatowa manufa.
  5. Mika Mulki: Lokacin da robo ya iso tare da abu, wayar hannu na ma'aikacin, sanin duka wuraren daidai, tana faɗakar da ma'aikacin da robo don sauƙaƙe mika mulki mai sauƙi. Tsarin yana ci gaba da sabunta duk matsayi.
Wannan nazarin lamari yana nuna yadda tsarin haɗin kai ke canza bayanan wuri danye zuwa ayyuka masu aiki, masu daidaitawa, yana ƙara inganci da aminci.

8. Hangen Nesa na Aikace-aikace & Hanyoyin Gaba

Aikace-aikace na Kusa:

  • Ajiyayyu da Masana'antu Masu Hikima: Don bin diddigin kaya na ainihi, karkatar da robo mai motsi, da yankunan haɗin gwiwar mutum da robo masu aminci.
  • Gidajen Tarihi & Kasuwanci: Samar da bayanai masu sanin yanayi ga baƙi na wayoyin hannu bisa daidaitaccen wurinsu kusa da abubuwan nunin ko samfuran.
  • Asibitoci: Bin diddigin kayan aikin likita masu motsi da ma'aikata a ainihin lokaci don ingantaccen kayan aiki.

Hanyoyin Bincike na Gaba:

  • Haɗakar Firikwensin: Haɗa VLP tare da bayanan IMU (Na'urar Auna Inertial) daga wayoyin hannu/robobi da yatsun WiFi/BLE don kiyaye tsinkaya yayin toshewar siginar VLC, ƙirƙirar tsarin haɗin gwiwa mai ƙarfi.
  • Warwarewa Mai Haɓaka AI: Yin amfani da samfuran koyon zurfi (misali, Cibiyoyin Jijiyoyi na Convolutional) don inganta ingancin warware ID na LED a ƙarƙashin yanayin haske masu ƙalubale, toshewar ɓangare, ko daga hotuna masu ɓacin rai.
  • Daidaituwa & Iya Daidaitawa: Haɓaka ƙa'idodin masana'antu gabaɗaya don siginonin tsinkaya na tushen VLC don tabbatar da aiki tare tsakanin fitilun LED da na'urori na masana'antu daban-daban, mai mahimmanci don turawa mai girma.
  • Haɗin 6G: Kamar yadda binciken 6G ke hasashen haɗin sadarwa da fahimta, VLP na iya zama ƙananan tsarin asali don ingantaccen tsinkaya a cikin gida a cikin hanyoyin sadarwa na 6G na gaba, kamar yadda aka bincika a cikin farar takarda daga Ƙungiyar Mayar da Hankali ta ITU-T akan 6G.

9. Nassoshi

  1. Marubuta. "Hanyar tsinkaya don robobi bisa tsarin aiki na robo." Sunan Taro/Jarida, Shekara. [An ambata a cikin PDF]
  2. Marubuta. "Hanyar tsinkayar robo bisa LED guda ɗaya." Sunan Taro/Jarida, Shekara. [An ambata a cikin PDF]
  3. Marubuta. "Tsinkayar robo haɗe da SLAM ta amfani da VLC." Sunan Taro/Jarida, Shekara. [An ambata a cikin PDF]
  4. Marubuta. "Nazarin yiwuwar wurin haɗin kai na robobi." Sunan Taro/Jarida, Shekara. [An ambata a cikin PDF]
  5. Zhou, B., et al. "Tsinkayar Haske da ake iya Gani na Tushen Wayar Hanyar Hikima tare da Ramawa Karkata." IEEE Photonics Technology Letters, 2020.
  6. Isola, P., et al. "Fassarar Hotuna zuwa Hotuna tare da Cibiyoyin Adawa na Sharadi." Proceedings of CVPR, 2017. (Takardar CycleGAN, a matsayin misalin dabarun sarrafa hoto na ci gaba masu dacewa don haɓaka warwarewar hoton VLC).
  7. "Mu'amalar & Haɗin kai na Mutum da Robo." IEEE Robotics & Automation Society. https://www.ieee-ras.org/human-robot-interaction-cooperation (An ziyarta: 2023).
  8. "Farar Takarda akan Hangen Nesa na 6G." Ƙungiyar Mayar da Hankali ta ITU-T akan Fasahohi don Hanyar Sadarwa 2030. https://www.itu.int/en/ITU-T/focusgroups/6g (An ziyarta: 2023).
  9. "Shirin 6G Flagship." Jami'ar Oulu. https://www.oulu.fi/6gflagship (An ziyarta: 2023).