Ibhodi Lokulawula Amarobhothi Embonini
Imininingwane
Ibhodi lokulawula lifakwe izici ezihlukahlukene kanye nezingxenye eziklanyelwe ukuqinisekisa ukulawulwa okuthembekile nokusebenza kahle phezu kwerobhothi.Enye yezinto ezibalulekile i-microcontroller noma iprosesa, esebenza njengobuchopho bohlelo.Icubungula idatha engenayo, yenze imiyalelo, futhi ikhiqize amasiginali adingekayo ukuze ilawule izinjini zamarobhothi nama-actuator.
Abashayeli bezimoto bangenye ingxenye ebalulekile yebhodi lokulawula.Laba bashayeli baguqula amasiginali weleveli ephansi ukusuka kusilawuli esincane ukuya kumasiginali wamandla aphezulu adingekayo ukushayela izinjini zerobhothi.Ibhodi lokulawula liphinde lifake izinzwa ezihlukahlukene ukuze linikeze impendulo yesikhathi sangempela kanye nolwazi mayelana nendawo yerobhothi, isivinini, nezimo zemvelo.Lokhu kuvumela ukulawula okunembayo futhi kuqinisekisa ukuthi irobhothi lingakwazi ukuzulazula ngokuphephile indawo elizungezile.
Izixhumanisi zokuxhumana zingesinye isici esibalulekile sebhodi lokulawula.Lezi zindawo zivumela ukuxhumana okungenazihibe phakathi kwebhodi elilawulayo namadivayisi angaphandle njengamakhompuyutha, izilawuli ze-programmable logic (PLCs), kanye ne-human-machine interfaces (HMIs).Lokhu kusiza ukuhlela, ukuqapha okukude, kanye nokushintshisana kwedatha, okuthuthukisa ukuguquguquka okuphelele nokusebenziseka kwerobhothi lezimboni.
Ibhodi lokulawula livamise ukufaka izici zokuphepha ukuze kuvikelwe irobhothi, indawo elizungezile, kanye nabaqhubi.Lezi zici zingabandakanya izinkinobho zokumisa izimo eziphuthumayo, izikhiye zokuphepha, nezindlela zokuthola amaphutha.Uma kwenzeka ukungasebenzi kahle noma ukwephulwa kokuphepha, ibhodi lokulawula lingaphendula ngokushesha ukuze liqinisekise ukuthi irobhothi liyama futhi ligweme noma yiziphi izingozi ezingaba khona.
Kumabhodi okulawula athuthukile, izici ezengeziwe ezifana nezinhlelo zokusebenza zesikhathi sangempela, ama-algorithms okuhlela ukunyakaza, namandla obuhlakani bokwenziwa angase ahlanganiswe.Lezi zici zinika amandla ukulawula okuyinkimbinkimbi nokuzimela phezu kwerobhothi, ukuthuthukisa ukusebenza kahle kwalo, ukunemba, kanye nokuvumelana nezimo emisebenzini eyinkimbinkimbi.
Sekukonke, i-Industrial Robot Control Board iyingxenye ebalulekile ehlanganisa ndawonye wonke amakhono adingekayo okulawula, ukuxhumanisa, nokuqapha ukusebenza kwamarobhothi ezimboni.Ngokunikeza ukulawula okunembayo, izinyathelo zokuphepha, namandla okuxhumana, kuqinisekisa ukusebenza okuphezulu nokukhiqiza kuzilungiselelo zezimboni.
Izinzuzo
1. Izinga eliphansi Inkundla yokulawula ihlose ukubona imisebenzi eyisisekelo, izinkomba zokusebenza ngokuyisisekelo zihlangabezana nezidingo, futhi ukukala kubi;imelelwa i-Arduino kanye ne-Raspberry PI, isikhombimsebenzisi se-peripheral sibona ukuhlanganisa kwe-modular, inani lekhodi yesofthiwe liyancishiswa, futhi izidingo eziyisisekelo zokusebenza zingahlangatshezwana nazo, ezisezingeni eliphezulu futhi eziphansi ngentengo .
2. Inkundla yokulawula yezinga eliphakathi isebenzisa i-DSP+FPGA noma i-STM32F4 noma i-F7 uchungechunge njengesakhiwo esiyinhloko sokuklama inkundla yokulawula.Ingakwazi ukuhlangabezana nayo yonke imisebenzi eyisisekelo, futhi ngesikhathi esifanayo, kunegumbi elikhulu lokuthuthukiswa ekufezekeni kokulinganisa, izinkomba zokusebenza, nokulawula ama-algorithms.Idizayini yesekethe yesixhumi esibonakalayo se-peripheral noma i-modular splicing yeminye imisebenzi, inani lekhodi yesofthiwe likhulu, futhi lizimele ngokuphelele.
3. Inkundla yokulawula yezinga eliphezulu isebenzisa ikhompuyutha yezimboni njengohlelo lokulawula oluyinhloko, futhi isebenzisa amakhadi okutholwa kwedatha ukuze ifunde futhi ilungise idatha yenzwa kanye nokushayela ulwazi.Qaphela ngokugcwele ukuhlanganisa kwe-modular, kudingeka kuphela ukwenza ukucushwa kwesofthiwe, abukho ubuchwepheshe obuyisisekelo, izindleko eziphezulu.
