Форум о роботах, беспилотных транспортных средствах, РТК и UGV

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Особенности эксплуатации
 
Тема для обсуждения особенностей эксплуатации колёсных роботов:
  • как задается маршрут?
  • как происходит объезд препятствий?
  • как будет вести себя робот среди других динамических объектов (в толпе людей)?
  • возвращается ли робот к источнику зарядки самостоятельно при низком уровне заряда батареи?
  • есть ли защита от воды/дождя и низких/высоких температур?
 
Маршрут задается однократным проездом робота под ручным управлением. Приезжают инсталляторы, привозят робота, проводят его по согласованному с заказчиком маршруту. Основная задача, собрать в единую карту все доступные пути проездов. Далее карта обрабатывается, объекты делятся на временные и постоянные. Например, урна может быть перемещена и ориентироваться на ее местоположение можно, но ненадежно, а вот стена здания вряд ли изменит свое местоположение в процессе эксплуатации робота. Далее на карте размечается маршрут движения и его период цикличности. Все эти данные копируются в систему видеовождения робота и вперед!
 
Появление препятствий на расстояние вдвое превышающий тормозной путь на текущей скорости движения приводят к остановке робота. Если в течение нескольких секунд (настраиваемый параметр) препятствие не покинуло путь движения робота, то он начинает искать путь объезда. В свете всего этого в толпе людей ездить ему будет весьма затруднительно, а одного, двух человек он либо переждет, либо объедет.
 
Возврат на подзарядку происходит автоматически. Если робот оснащен беспроводной подзарядкой, то он просто останавливается над ее антенной. Если ее нет, то потребуется участие оператора для подключения кабеля с влагозащищенным разъемом. Время зарядки робота при использовании беспроводной системы передачи электроэнергии, несколько больше контактного способа подключения и составляет около четырех часов. При электрическом, контактном подключение робота к зарядному устройству, время зарядки составит менее трех часов.
 
Исполнение конструкции - всепогодное и влагозащищенное, по аналогии с автомобилем. Верхний диапазон рабочих температур не является критичным и может кратковременно превышать рекомендованный. Значение нижнего предела рабочего диапазона температур определяет степень охлаждения аккумуляторных батарей. При температуре окружающей среды до -20С и 10 часовом режиме эксплуатации, температура аккумуляторных батарей падает, их емкость тоже снижается, но не столь значительна, чтобы не проехать 20км. При более низкой температуре окружающий среды или более длительном нахождение на морозе, возможно глубокое промерзание аккумуляторов и значительная потеря их емкости. Это приведет и к тому, что цикл заряда потребуется более длительный.
 
Цитата
Application Engineer пишет:
Маршрут задается однократным проездом робота под ручным управлением. Приезжают инсталляторы, привозят робота, проводят его по согласованному с заказчиком маршруту. Основная задача, собрать в единую карту все доступные пути проездов. Далее карта обрабатывается, объекты делятся на временные и постоянные. Например, урна может быть перемещена и ориентироваться на ее местоположение можно, но ненадежно, а вот стена здания вряд ли изменит свое местоположение в процессе эксплуатации робота. Далее на карте размечается маршрут движения и его период цикличности. Все эти данные копируются в систему видеовождения робота и вперед!
Подскажите, а как робот будет вести себя "в чистом поле"? В этом случае, на сколько я понимаю, количество всех доступных путей проездов будет стремится к бесконечности и на карте не будет постоянных объектов.
 
Поле от горизонта, до горизонта встречается редко и что в этой степи делать роботу, мне не очень понятно. В типовой ситуации, поле окружено ветрозащитными посадками, лесом, где-нибудь идет ЛЭП, видны сотовые вышки – все это, прекрасные ориентиры в светлое время суток. Если их все-таки невидно, ехать можно, ориентируясь на дорогу. Она надежно распознается и днем и ночью в свете фар. В любом случае, у робота есть карта, сформированная при первом, обучающем проезде, эта карта и позволит приехать ему в пункт назначения.
 
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