Zaɓi Harshe

Tsarin Haɗin Kai na Matsayi don Robobi da Wayar Hannu Mai Hikima bisa Sadarwar Haske da ake iya Gani

Bincike kan tsarin matsaya na haɗin gwiwa na Robobi da Wayoyin Hannu bisa Sadarwar Haske da ake iya Gani, wanda ya ƙunshi tsari, ƙirƙira, sakamakon gwaji, da aikace-aikace na gaba.
rgbcw.org | PDF Size: 0.3 MB
Kima: 4.5/5
★ ★ ★ ★ ★
Kimarku
Kun riga kun ƙididdige wannan takarda
Murfin Takardar PDF - Tsarin Haɗin Kai na Matsayi don Robobi da Wayar Hannu Mai Hikima bisa Sadarwar Haske da ake iya Gani
Duba Takardar PDF Zazzage PDF Fassara PDF
Gida » Takaddun » Tsarin Haɗin Kai na Matsayi don Robobi da Wayar Hannu Mai Hikima bisa Sadarwar Haske da ake iya Gani

Teburin Abubuwan Ciki

1. Bayyani Gabaɗaya

Wannan takarda tana magance ƙalubalen tantance wuri a cikin gida inda fasahohin gargajiya kamar GPS suka gaza saboda toshewar siginar. Ta gabatar da tsarin haɗin kai na tantance wuri ta amfani da Sadarwar Haske da ake iya Gani (VLC). Tsarin yana amfani da fitilun LED da aka daidaita tare da Maɓallin Kashewa da Kunna (OOK) don watsa bayanan tantance wuri da na ainihi (ID). Kyamarar CMOS ta wayar hannu, ta amfani da tasirin rufewa mai birgima, tana ɗaukar waɗannan siginar haske a matsayin ratsi, yana ba da damar Sadarwar Kyamara ta Gani (OCC) mai sauri. Ta hanyar fassara waɗannan ratsin, na'urar tana samo Ainihin Bayanin Ainihi (UID) wanda ke da alaƙa da wurin da aka riga aka zana taswira, don haka tana tantance matsayinta. An tsara tsarin don yanayin da ake buƙatar haɗin gwiwar mutum da robot, kamar ɗakunan ajiya da ayyukan kasuwanci, inda sanin wuri na ainihi, raba lokaci-lokaci ke da muhimmanci.

2. Ƙirƙira

Babban ƙirƙira ya ta'allaka ne a cikin ƙirar tsarin VLC ɗaya don haɗin kai na tantance wuri tsakanin wayoyin hannu da robobi. Manyan gudummawar sun haɗa da:

  1. Ƙirar VLP Mai Yawan Tsare-tsare: Tsarin ya ƙunshi tsare-tsare da yawa na Tantance Wuri ta Haske da ake iya Gani (VLP) don sarrafa matsayin karkatar da wayoyin hannu daban-daban da yanayin haske daban-daban, yana haɓaka ƙarfin aiki.
  2. Tsarin Haɗin Kai Haɗe: Ya kafa dandamali na ainihi inda ake samun matsayin wayar hannu da robot kuma ake raba su a kan fuskar wayar hannu, yana ba da damar fahimtar juna.
  3. Tabbatar da Gwaji: Binciken ya mai da hankali ne kuma ya tabbatar da ainihin ma'auni na aiki: daidaiton gano ID, daidaiton tantance wuri, da ikon aiki na ainihi.

3. Bayanin Nunin Gwaji

Tsarin nunin gwaji ya kasu kashi biyu: masu watsawa da masu karɓa.

3.1 Tsarin Tsarin Aiki

Tsarin ya ƙunshi masu watsa LED, waɗanda Ƙungiyar Sarrafa Microcontroller (MCU) ke sarrafawa, suna watsa bayanan tantance wuri da aka daidaita. Masu karɓa su ne wayoyin hannu (don bin diddigin mutum) da robobi masu ɗauke da kyamarori. Wayar hannu tana aiki azaman cibiyar tsakiya, tana sarrafa bayanan VLC daga fitilun LED don tantance kanta kuma tana karɓar bayanan matsayin robot (ta wasu hanyoyi kamar WiFi/BLE) don nuna taswira ɗaya ta haɗin kai.

3.2 Saitin Gwaji

Kamar yadda aka nuna a cikin rubutun (Hoto na 1), saitin ya ƙunshi masu watsa LED guda huɗu da aka ɗora akan faranti lebur. Na'urar da'ira mai iya daidaitawa tana sarrafa fitilun LED. An tsara yanayin don kwaikwayon sararin cikin gida na yau da kullun inda robot da mutum mai wayar hannu ke aiki.

Manufofin Aiki Masu Muhimmanci

Daidaiton Tantance Wuri: Ana nufin matakin cm (yana nuni ga 2.5 cm daga aikin da ke da alaƙa).

Ƙimar Bayanai: An haɓaka ta hanyar rufewa mai birgima, ya wuce ƙimar firam ɗin bidiyo.

Aiki na Ainihi: Yana da mahimmanci ga haɗin gwiwar mutum da robot.

4. Cikakkun Bayanai na Fasaha & Tsarin Lissafi

Babban fasaha ya dogara ne akan daidaitawar OOK da tasirin rufewa mai birgima. Matsayin kunna/kashe na LED, wanda aka daidaita a babban mitar, ana ɗaukar shi ta hanyar firikwensin CMOS ba a matsayin hoto mai haske/duhu ɗaya ba amma a matsayin ɓangarorin duhu da haske masu canzawa (ratsi) a cikin hoton. Tsarin waɗannan ratsin yana ɓoye bayanan lambobi (UID).

Ƙididdigar Matsayi: Da zarar an fassara UID, bincike a cikin bayanan da aka riga aka kafa yana ba da ma'auni na duniya na LED $(X_{LED}, Y_{LED}, Z_{LED})$. Ta amfani da lissafin kyamara (samfurin rami) da ma'aunin pixel da aka gano $(u, v)$ na hoton LED, ana iya ƙididdige matsayin na'urar dangane da LED. Don sauƙaƙan lamari na 2D tare da sanannen tsayin LED $H$, ana iya kiyasin nisa $d$ daga kyamara zuwa tsinkayar LED a tsaye idan an san kusurwar karkatar da kyamara $\theta$ da tsayin mai da hankali $f$ ko aka daidaita su:

$ d \approx \frac{H}{\tan(\theta + \arctan(\frac{v - v_0}{f}))} $

inda $(u_0, v_0)$ shine mahimmin batu. Duban LED da yawa yana ba da damar yin lissafin alwatika don ƙarin daidaiton tantance wuri na 2D/3D.

5. Sakamakon Gwaji & Bayanin Jadawali

Takardar ta bayyana cewa yuwuwar tsarin, babban daidaito, da aikin ainihi an nuna su bisa tsarin gwaji. Duk da yake ba a yi cikakken bayani game da sakamakon lambobi ba a cikin abin da aka samo, tana nuni ga cimma babban daidaito (misali, 2.5 cm a cikin aikin robot kawai da ke da alaƙa [2,3]).

Jadawali/Hotuna da ake nufi:

  • Hoto na 1: Gabaɗayan Yanayin Gwaji da Sakamako: Mai yiwuwa yana nuna saitin zahiri tare da allunan LED huɗu, robot, da mutum mai wayar hannu. Zane ko hoton fuskar wayar hannu da ke nuna matsayin ainihi na duka abubuwan biyu akan taswira zai zama mahimmin "sakamako."
  • Jadawalin Kimanta Daidaito: Zane-zane na yau da kullun za su haɗa da Ayyukan Rarraba Tari (CDF) na kuskuren tantance wuri don gwaje-gwaje na tsaye da na motsi, kwatanta hanyar da aka gabatar da tushe.
  • Ma'auni na Aikin Ainihi: Jadawali da ke nuna jinkiri (lokaci daga ɗaukar hoto zuwa nuna matsayi) a ƙarƙashin yanayi daban-daban.

6. Tsarin Bincike: Misalin Lamari

Yanayi: Zaɓin Oda a Cikin ɗakin Ajiya tare da Ƙungiyar Mutum da Robot.
Mataki na 1 (Zana Taswira): An shigar da fitilun LED masu UID na musamman a wuraren da aka sani a saman ɗakin ajiya. Bayanan taswira suna haɗa kowane UID zuwa ma'auninsa na $(X, Y, Z)$.
Mataki na 2 (Tantance Wurin Robot): Kyamarar robot da ke fuskantar sama tana ɗaukar ratsin LED, tana fassara UIDs, kuma tana ƙididdige daidaitaccen wurinta ta amfani da algorithms na lissafi. Tana kewaya zuwa kwandon kaya.
Mataki na 3 (Tantance Wurin Ma'aikacin Mutum): Kyamarar wayar hannu mai zaɓi (mai yuwuwar karkata) ita ma tana ɗaukar siginar LED. Tsarin VLP mai yawan tsare-tsare yana rama karkatar, yana fassara UID kuma yana tantance wurin ma'aikacin.
Mataki na 4 (Haɗin Kai): Robot da wayar hannu suna musayar ma'auninsu ta hanyar cibiyar sadarwa ta gida. App ɗin wayar hannu yana nuna matsayin duka biyun. Robot na iya kewaya zuwa wurin ma'aikacin don isar da abin da aka zaɓa, ko kuma tsarin zai iya faɗakar da ma'aikacin idan sun yi kusa da hanyar robot.
Sakamako: Ƙarfafa aminci, ingantacciyar aiki, da haɗin kai ba tare da dogaro da raunin siginar RF ko cunkoson ba.

7. Hangar Aikace-aikace & Hanyoyin Gaba

Aikace-aikace na Kusa:

  • Ƙwarewar ɗakunan Ajiya & Masana'antu: Don robobin kaya, AGVs, da ma'aikata a cikin kayan aiki.
  • Kiwon Lafiya: Bin diddigin kayan aikin likita masu motsi da ma'aikata a asibitoci.
  • Kasuwanci: Kewayawa na abokin ciniki a manyan shaguna da hulɗa da robobin sabis.
  • Gidajen Tarihi & Filayen Jiragen Sama: Samar da daidaitaccen kewayawa a cikin gida ga baƙi.

Hanyoyin Bincike na Gaba:

  1. Haɗawa da SLAM: Haɗuwa mai zurfi na tantance wuri na cikakke na tushen VLC tare da SLAM na robot (kamar yadda aka nuna a [2,3]) don ƙarfi, kewayawa mara karkata a cikin yanayi mai motsi.
  2. Sarrafa Siginar da AI ya Haɓaka: Yin amfani da koyo mai zurfi don fassara siginar VLC a ƙarƙashin matsanancin yanayi (gurbi na motsi, rufe wani ɓangare, tsangwama daga wasu hanyoyin haske).
  3. Daidaituwa & Haɗin Kai: Haɓaka ka'idoji gama gari don siginar tantance wuri na VLC don ba da damar turawa mai faɗi, kamar yunƙurin ƙungiyar aiki ta IEEE 802.15.7r1.
  4. Ƙirar Tattalin Makamashi: Inganta algorithms na sarrafa bangaren wayar hannu don rage yawan amfani da baturi daga ci gaba da amfani da kyamara.
  5. Haɗuwar Firikwensin Bambancin: Haɗa VLC tare da UWB, WiFi RTT, da firikwensin motsi don tsarin tantance wuri mai jurewa kuskure, mai samuwa.

8. Nassoshi

  1. [1] Marubuta. "Hanyar tantance wuri don robobi bisa tsarin aiki na robot." Taro/Jarida, Shekara.
  2. [2] Marubuta. "Hanyar tantance wuri na robot bisa LED guda ɗaya." Taro/Jarida, Shekara.
  3. [3] Marubuta. "[Aikin da ke da alaƙa] haɗe tare da SLAM." Taro/Jarida, Shekara.
  4. [4] Marubuta. "Game da wurin haɗin kai na robobi." Taro/Jarida, Shekara.
  5. [5-7] Marubuta. "Tsare-tsaren VLP don yanayin haske/karkata daban-daban." Taro/Jarida, Shekara.
  6. Ma'auni na IEEE don Gida da cibiyoyin sadarwa na birni--Sashi na 15.7: Gajerun Sadarwar Wireless ta Gani. IEEE Std 802.15.7-2018.
  7. Gu, Y., Lo, A., & Niemegeers, I. (2009). Bincike kan tsarin tantance wuri a cikin gida don cibiyoyin sadarwar sirri na mara waya. IEEE Communications Surveys & Tutorials.
  8. Zhuang, Y., et al. (2018). Bincike kan tsarin tantance wuri ta amfani da fitilun LED da ake iya gani. IEEE Communications Surveys & Tutorials.

9. Bincike na Asali & Sharhin Kwararru

Mahimmin Fahimta:

Wannan takarda ba wani ƙarin ci gaba ne kawai a cikin Tantance Wuri ta Haske da ake iya Gani (VLP) ba; ƙoƙari ne na aiki don magance matsalar haɗa tsare-tsare mai mahimmanci ga guguwar sarrafa kai ta gaba: haɗin gwiwar mutum da robot mara tsangwama. Ainihin fahimtar shine gane cewa don haɗin gwiwar ya yi tasiri, duka abubuwan biyu suna buƙatar raba, daidaitaccen, da fahimtar wuri na ainihi wanda aka samo daga tushe gama gari, amintacce. VLC, wanda sau da yawa ake yabawa don babban daidaitonsa da kariya daga tsangwama na RF, an sanya shi a nan ba a matsayin kayan aiki na kansa ba amma a matsayin ƙashin baya na tantance wuri don yanayin bambancin halittu.

Kwararar Hankali & Dalili na Dabarun:

Hankali yana da inganci kuma yana sane da kasuwa. Marubutan sun fara da sanannen matsalar cikin gida da aka hana GPS, da sauri sun kafa cancantar fasaha na VLC (daidaito, bandwidth ta hanyar rufewa mai birgima), sannan suka juya zuwa ga buƙatar da ba a cika ba: daidaitawa. Sun gano daidai cewa yawancin ayyukan da suka gabata, kamar abin burgewa na 2.5 cm na tantance wuri na robot da aka ambata, suna aiki a cikin silos—suna ingantawa don wakili ɗaya. Tsallakewa zuwa tsarin haɗin kai shine inda tsayawar darajar ta ƙara. Ta hanyar sanya wayar hannu ta zama cibiyar haɗawa, suna amfani da kayan aikin da ke ko'ina, suna guje wa tsadar musanyar fuskar robot. Wannan yayi daidai da babban yanayi a cikin IoT da robotics, inda wayar hannu ke aiki azaman cibiyar firikwensin duniya da fuskar mai amfani, kamar yadda ake gani a dandamali kamar ARKit na Apple ko ARCore na Google waɗanda ke haɗa bayanan firikwensi don lissafin sarari.

Ƙarfi & Kurakurai:

Ƙarfi: Hanyar da yawa don sarrafa karkatar da wayar hannu wani muhimmin sashe ne na aikin injiniyanci, wanda sau da yawa ake yin watsi da shi. Yana yarda da amfani da ainihin duniya. Yin amfani da hanyar OCC na rufewa mai birgima da aka kafa yana ba da tushe mai ƙarfi, mai nunawa maimakon fasahar hasashe.

Kurakurai & Gibi: Babban raunin abin da aka samo shine rashin ƙaƙƙarfan bayanan aiki na kwatankwacinsa. Da'awar "babban daidaito da aikin ainihi" ba su da ma'ana ba tare da ma'auni da ma'auni ba akan fasahohin gasa kamar UWB ko SLAM na tushen LiDAR. Ta yaya tsarin ke aiki a ƙarƙashin motsi mai sauri ko tare da LEDs masu rufewa? Bangaren "haɗin kai" da alama ba a ƙayyade shi sosai—ta yaya ainihin robot da wayar hannu ke sadar da wurarensu? Shin uwar garken tsakiya ne ko tsakanin takwarorinsu? Jinkirin wannan layin sadarwa da amincinsa suna da mahimmanci kamar daidaiton tantance wuri. Bugu da ƙari, ba a magance yadda tsarin ke iya daidaitawa a cikin manyan muhallai masu rikitarwa tare da fitilun LED da wakilai da yawa ba, ƙalubale da aka sani don cunkoson hanyoyin sadarwa na VLP.

Fahimta Mai Aiki:

Ga ƴan masana'antu, wannan bincike yana nuna madaidaiciyar hanya: Dakatar da tunanin tantance wuri shi kaɗai. Maganin nasara don wurare masu hikima zai zama gauraye, na haɗin kai. Kamfanonin da ke haɓaka injiniyoyin ɗakin ajiya (misali, Locus Robotics, Fetch) yakamata su bincika haɗin VLC a matsayin ƙarin daidaito mai girma, ƙarancin tsangwama ga tarin kewayawar da suke da su. Masu kera haske (Signify, Acuity Brands) yakamata su ga wannan a matsayin ƙarin ƙima mai jan hankali ga tsarin LED na kasuwancinsu—ba siyar da haske kawai ba, amma kayan aikin tantance wuri. Ga masu bincike, mataki na gaba kai tsaye shine gwaji mai tsauri, mai girma da buɗe tushen tsarin don haɓaka ci gaban al'umma game da ƙa'idodin haɗin gwiwar tushen VLC. Manufa ta ƙarshe yakamata ta zama "Module na Tantance Wuri na VLC" mai shiga-kaya cikin sauƙi wanda za'a iya haɗa shi cikin sauƙi zuwa kowane OS na robot ko SDK na wayar hannu, kamar yadda modules na GPS ke aiki a yau.

A ƙarshe, wannan aiki yana ba da zane mai mahimmanci. Gwajinsa na gaskiya zai zama motsawa daga nunin da aka sarrafa zuwa turawa na ainihin duniya mai rikitarwa inda alkawarin haɗin kai ya haɗu da hargitsi na aiki na yau da kullun.