ABSTRACT
Ichi chinyorwa chakavakirwa pakuyedzwa kwerabhoritari uye chine chinangwa chekutsanangura musiyano we latency pakati pewireless communication link uye tambo yekubatanidza pane yakazvimiririra isina manman pasi mota ine ZED VR kamera.Uye funga kana iyowireless linkyakavimbika zvakanyanya pakuona iyo 3D yekuona maonero eUGV.
1. Nhanganyaya
UGV inoshandiswa zvakanyanya munzvimbo dzakasiyana-siyana dzakaoma kusvika kana njodzi kune kuchengetedzwa kwevanhu, semuenzaniso kunzvimbo yenjodzi yakasikwa, radiation, kana kuderedza bhomba muchiuto.Mune tele-operated yekutsvaga nekununura UGV, iyo 3D yekuona maonero eiyo UGV nharaunda ine yakadzika mhedzisiro pakuziva kwevanhu-robhoti-kudyidzana kwenzvimbo yeUGV.Zvinoda
Yakanyanya-chaiyo-nguva kuwiriranisa yeruzivo rwenyika, chaiyo-nguva mhinduro yemaitiro, ruzivo rwechiito uye inopindirana mhinduro yeiri kure robhoti vhidhiyo.Iine ruzivo rwenguva chaiyo iyo UGV inogona kunyatso kudzora uye isina waya munzvimbo dzakareba uye dzisiri-mutsara-wekuona nharaunda.
Aya data data anosanganisira ese mapfupi data pakiti uye chaiyo-nguva yekutepfenyura midhiya data, iyo yakasanganiswa pamwe chete uye inopfuudzwa kune yekutonga chikuva kuburikidza nekutumira link.Zviripachena, pane zvakanyanya zvinodikanwa pakunonoka kweiyo wireless link.
1.1.Wireless communication link
IWAVE wireless communication link FDM-6600 Radio Module inopa yakachengeteka IP networking ine yekupedzisira-kusvika-kumagumo encryption uye isina musono Layer 2 yekubatanidza, iyo FDM-6600 module inogona kubatanidzwa zviri nyore mune chero chikuva kana application.
Yakareruka uye diki dimension yakanakira SWAP-C (Kukura, Huremu, Simba uye Mutengo) - maUAV nemotokari dzepasi dzisina munhu muUHF, S-Band uye C-Band frequency.Inopa yakachengeteka, yakavimbika kwazvo yekubatanidza kune chaiyo-nguva vhidhiyo kutumira kune mobile surveillance, NLOS (isina-mutsara-yekuona) kutaurirana, uye kuraira uye kutonga kwema drones nemarobhoti.
1.2.Mota dzepasi dzisina munhu
Iyo robhoti ine-multi-terrain inokwanisa uye inogona kukwira zvipingamupinyi.Inobatana neZED kamera yekutora vhidhiyo feed yakatenderedza UGV.Uye iyo UGV inoshandisa iyo FDM-6600 isina waya yekubatanidza kugamuchira vhidhiyo feed kubva kuZED pa-bhodhi makamera.Panguva imwe cheteyo mafidhiyo evhidhiyo anotumirwa kune opareta chiteshi komputa yekugadzira iyo VR zviitiko kubva kuvhidhiyo data yakawanikwa nerobhoti.
2.MuedzoCotent:
Testingkunonoka musiyano pakatiIWAVEwireless transmission uye RJ45 tambo yekufambisa paunenge uchitumira ZED Kamera 720P * 30FS vhidhiyo kubva parobhoti kuenda kumashure-kumagumo V.Rserver.
Chekutanga shandisa IWAVE isina waya chinongedzo kufambisa vhidhiyo kutenderera, kudzora data uye imwe sensor data kubva kuNVIDIA IPC.
Kechipiri kushandisa RJ45 tambo kutsiva isina waya chinongedzo chekufambisa iyo data yemufananidzo, kudzora data uye sensor data kubva kudivi rerobhoti kuenda kudivi rekutonga.
3. Nzira dzekuedza
Iyo ZED Kamera yerobhoti inopfura iyo stopwatch yenguva software, yobva yaisa VR server uye stopwatch software pachiratidziro chimwe chete kutora iwo mufananidzo wakafanana (mbiri yekutarisisa nzvimbo) uye kurekodha mutsauko pakati penguva mbiri mapoinzi emufananidzo mumwe chete.
4.Test Mhinduro uye Analysis:
| Latency Data | ||||||
| Nguva | Nguva yeSoftware | VR Sever Screen | IWAVE Wireless Communication Latency | Nguva yeSoftware | 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. Mhedziso:
Muchiitiko ichi, hapana mutsauko wakakosha pakati peiyo latency yekutaurirana isina waya kune yakakwirira-tsanangudzo vhidhiyo kutora, kutapurirana, decoding, uye kuratidza, uye latency yekutapurirana yakananga kuburikidza netiweki tambo.
Nguva yekutumira: Feb-27-2023
