ABSTRACT
Nkhaniyi idachokera pakuyezetsa kwa labotale ndipo ikufuna kufotokoza kusiyana kwa latency pakati pakugwirizana opanda zingwe ndi ulalo wa chingwe pamagalimoto apansi odziyimira pawokha osayendetsedwa ndi kamera ya ZED VR.Ndipo dziwani ngatiulalo wopanda zingwendiwodalirika kwambiri pakuwonetsetsa kuti mawonekedwe a 3D a UGV.
1.Chiyambi
UGV imagwiritsidwa ntchito kwambiri m'malo osiyanasiyana ovuta kufikako kapena owopsa kwa chitetezo cha anthu, mwachitsanzo chifukwa cha tsoka lachilengedwe, ma radiation, kapena kutsitsa bomba lankhondo.Posaka ndi kupulumutsa UGV yoyendetsedwa ndi telefoni, mawonekedwe a 3D a chilengedwe cha UGV amakhudza kwambiri kuzindikira kwa anthu ndi roboti pa chilengedwe cha UGV.Zomwe zimafunikira
Kulunzanitsa kwanthawi yeniyeni kwa zidziwitso za boma, kuyankha zenizeni zenizeni, zomwe zikuchitika komanso mayankho ofananirako a kanema wamaloboti akutali.Ndi chidziwitso cha nthawi yeniyeni UGV imatha kuwongolera moyenera komanso popanda zingwe m'malo otalikirapo komanso osawoneka bwino.
Deta yachidziwitsoyi imaphatikizapo mapaketi afupikitsa a deta ndi nthawi yeniyeni yotsatsira deta yofalitsa nkhani, yomwe imasakanizidwa pamodzi ndikutumizidwa ku nsanja yolamulira kudzera mu chiyanjano chotumizira.Mwachiwonekere, pali zofunika kwambiri pakuchedwa kwa ulalo wopanda zingwe.
1.1.Ulalo wolumikizana opanda zingwe
Ulalo wolumikizirana wopanda zingwe wa IWAVE FDM-6600 Radio Module umapereka maukonde otetezeka a IP okhala ndi kubisa komaliza mpaka kumapeto komanso kulumikizidwa kopanda Layer 2, gawo la FDM-6600 limatha kuphatikizidwa mosavuta pafupifupi papulatifomu kapena pulogalamu iliyonse.
Ndi yopepuka komanso yaying'ono ndi yabwino kwa SWAP-C (Kukula, Kulemera, Mphamvu ndi Mtengo) - Ma UAV ndi magalimoto osayendetsedwa ndi UHF, S-Band ndi C-Band pafupipafupi.Amapereka kulumikizana kotetezeka, kodalirika kwambiri pakufalitsa mavidiyo a nthawi yeniyeni pakuyang'anitsitsa mafoni, mauthenga a NLOS (osawona), ndi kulamulira ndi kulamulira kwa drones ndi robotics.
1.2.Magalimoto apansi opanda munthu
Lobotiyi ndi yokhoza kukwera maulendo angapo ndipo imatha kukwera zopinga.Imalumikizana ndi kamera ya ZED kuti ijambule chakudya chamavidiyo kuzungulira UGV.Ndipo UGV imagwiritsa ntchito ulalo wopanda zingwe wa FDM-6600 kulandira ma feed a kanema kuchokera ku makamera aku ZED.Panthawi imodzimodziyo ma feed amakanema amatumizidwa ku kompyuta ya opareshoni kuti apange mawonekedwe a VR kuchokera ku data ya kanema yopezedwa ndi loboti.
2.MayesoCcholinga:
Yesanindikusiyana kuchedwa pakatiIWAVEkutumiza opanda zingwe ndi kutumiza kwa chingwe cha RJ45 potumiza kanema wa ZED Camera 720P * 30FS kuchokera ku loboti kupita kumapeto kwa V.Rseva.
Choyamba gwiritsani ntchito ulalo wopanda zingwe wa IWAVE kuti mutumize kutsitsa kwamavidiyo, kuwongolera deta ndi data ina ya sensa kuchokera ku NVIDIA IPC.
Kachiwiri kugwiritsa ntchito chingwe cha RJ45 kuti mulowe m'malo mwa ulalo wopanda zingwe kuti mutumize deta yazithunzi, kuwongolera deta ndi chidziwitso cha sensor kuchokera mbali ya loboti kupita kumbali yowongolera.
3. Njira Zoyesera
ZED Camera ya robot ikuwombera pulogalamu ya nthawi ya stopwatch, ndiyeno imayika seva ya VR ndi pulogalamu ya stopwatch pawindo lomwelo kuti litenge chithunzi chomwecho (mfundo ziwiri) ndikulemba kusiyana pakati pa nthawi ziwiri za chithunzi chomwecho.
4. Zotsatira Zoyesa ndi Kusanthula:
| Latency Data | ||||||
| Nthawi | Mapulogalamu a Nthawi | VR Sever Screen | IWAVE Wireless Communication Latency | Mapulogalamu a Nthawi | VR Sever Screen | 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. Mapeto:
Pazimenezi, palibe kusiyana kwakukulu pakati pa latency ya kulankhulana opanda zingwe pakupeza mavidiyo odziwika bwino, kutumiza, kusindikiza, ndi kuwonetsera, komanso kuchedwa kwa kutumizirana mwachindunji kudzera pa chingwe cha intaneti.
Nthawi yotumiza: Feb-27-2023
