GASKIYA
Wannan labarin ya dogara ne akan gwajin dakin gwaje-gwaje kuma yana da nufin bayyana bambancin jinkiri tsakaninhanyar sadarwa mara waya da hanyar haɗin kebul akan motocin ƙasa marasa ƙarfi masu cin gashin kansu tare da kyamarar ZED VR.Kuma duba idanhanyar sadarwa mara wayababban abin dogaro ne don tabbatar da hangen nesa na 3D na UGV.
1. Gabatarwa
Ana amfani da UGV sosai a wurare daban-daban da ke da wahalar isa ko haɗari ga lafiyar ɗan adam, misali don wurin da bala'i ya faru, radiation, ko kashe bam a cikin sojoji.A cikin bincike da ceto UGV ta wayar tarho, hangen nesa na 3D na yanayin UGV yana da tasiri mai zurfi akan fahimtar hulɗar ɗan adam-robot-mu'amala na yanayin UGV.Wanda yake bukata
Haɗin kai na ainihin lokaci na bayanan jihar, martani na ainihin lokaci, bayanin aiki da kuma ra'ayin aiki tare na bidiyo na robot mai nisa.Tare da akwai bayanan ainihin lokacin UGV na iya zama daidai da sarrafa mara waya a cikin kewayo mai tsayi da wuraren da ba na gani ba.
Waɗannan bayanan bayanan sun haɗa da fakitin gajerun bayanai da bayanan watsa shirye-shirye na ainihin lokaci, waɗanda aka haɗa tare kuma ana watsa su zuwa dandamalin sarrafawa ta hanyar hanyar sadarwa.Babu shakka, akwai buƙatu masu yawa akan jinkirin hanyar haɗin mara waya.
1.1.Haɗin sadarwa mara waya
Hanyar sadarwa mara waya ta IWAVE FDM-6600 Module Rediyo tana ba da amintacciyar hanyar sadarwar IP tare da ɓoye-ɓoye-ƙarshen-zuwa-ƙarshe da haɗin haɗin Layer 2 maras kyau, tsarin FDM-6600 na iya haɗawa cikin sauƙi cikin kusan kowane dandamali ko aikace-aikace.
Yana da nauyi da ƙananan girma suna da kyau don SWaP-C (Girman, Weight, Power and Cost) - UAVs da motocin ƙasa marasa matuƙa a cikin UHF, S-Band da mitar C-Band.Yana ba da amintaccen haɗin kai, ingantaccen abin dogaro don watsa bidiyo na ainihin lokaci don sa ido ta wayar hannu, sadarwar NLOS (marasa-ganin gani), da umarni da sarrafa jiragen sama da na'urori masu motsi.
1.2.Motocin kasa marasa matuka
Mutum-mutumin yana da iya fa'ida da yawa kuma yana iya hawa cikas.Yana haɗi tare da kyamarar ZED don ɗaukar ciyarwar bidiyo a kusa da UGV.Kuma UGV tana amfani da hanyar haɗin mara waya ta FDM-6600 don karɓar ciyarwar bidiyo daga kyamarori na ZED akan jirgi.A lokaci guda ana aika ciyarwar bidiyo zuwa kwamfutar tashar mai aiki don samar da yanayin VR daga bayanan bidiyo da mutum-mutumi ya samu.
2. GwajiCal'ada:
Gwajiingbambancin jinkiri tsakaninIWAVEwatsawa mara waya da watsa RJ45 na USB lokacin watsa bidiyo na ZED Kamara 720P*30FS daga robot zuwa ƙarshen ƙarshen V.Ruwar garken.
Da farko yi amfani da hanyar haɗin mara waya ta IWAVE don watsa shirye-shiryen bidiyo, sarrafa bayanai da sauran bayanan firikwensin daga NVIDIA IPC.
Na biyu yin amfani da kebul na RJ45 don maye gurbin hanyar haɗin mara waya don watsa bayanan hoto, bayanan sarrafawa da bayanan firikwensin daga gefen robot zuwa gefen mai sarrafawa.
3. Hanyoyin Gwaji
Kamarar ZED na robot tana harba software na lokacin agogon gudu, sannan ya sanya uwar garken VR da software na agogon gudu akan allo guda don ɗaukar hoto iri ɗaya (dual focus point) da rikodin bambancin tsakanin maki biyu na hoto ɗaya.
4.Sakamakon Gwaji da Nazari:
| Bayanan Latency | ||||||
| Lokaci | Software na lokaci | Allon Sever VR | Latency Sadarwa mara waya ta IWAVE | Software na lokaci | Allon Sever VR | RJ45 Cable Latency |
| 1 | 7.202 | 7.545 | 343 | 7.249 | 7.591 | 342 |
| 2 | 4.239 | 4.577 | 338 | 24.923 | 25.226 | 303 |
| 3 | 1.053 | 1.398 | 345 | 19.507 | 19.852 | 345 |
| 4 | 7.613 | 7.915 | 302 | 16.627 | 16.928 | 301 |
| 5 | 1.598 | 1.899 | 301 | 10.734 | 10.994 | 260 |
| ||||||
5.Kammalawa:
A cikin wannan yanayin, babu wani gagarumin bambanci tsakanin rashin jinkirin sadarwar mara waya don siyan bidiyo mai girma, watsawa, yanke hukunci, da nuni, da kuma lattin watsawa kai tsaye ta hanyar kebul na cibiyar sadarwa.
Lokacin aikawa: Fabrairu-27-2023
