Imodoka ya mpandeshatu yikurikiranya, hamwe nuburyo bwihariye bwo gushyigikira ingingo eshatu nuburyo bwo kugenda bwikurura, ifite porogaramu nini mubijyanye nubwubatsi. Birakwiriye cyane kubutaka bugoye, imitwaro myinshi, cyangwa ibintu bisabwa bihamye. Ibikurikira nisesengura ryibikorwa byihariye nibyiza mumashini zitandukanye:
1. Ibinyabiziga bidasanzwe nibikoresho byubwubatsi
Ibisabwa:
- Ibinyabiziga by'urubura n'ibishanga:
Inzira nini ya mpandeshatu ikwirakwiza igitutu, ikabuza ikinyabiziga kurohama mu rubura rworoshye cyangwa mu bishanga (nk'imodoka yo muri Suwede Bv206 ibinyabiziga byose).
-Imashini zubuhinzi:
Ikoreshwa mu gusarura imirima ihanamye hamwe n’imodoka ikora umuceri, kugabanya guhuza ubutaka no guhuza nubutaka bwondo.
-Imashini zicukura:
Inzira ya mpandeshatu ya mpandeshatu irashobora guhinduka muburyo bworoshye bwo gucukura amabuye y'agaciro, ashobora gutwara umutwaro uremereye wibinyabiziga bitwara amabuye.
Ibyiza:
- Umuvuduko wubutaka ni muto (≤ 20 kPa), kugirango wirinde kwangiza hejuru.
- Gukomatanya umubiri uvugwa hamwe ninzira ya mpandeshatu birakoreshwa, bikwiranye nubutaka bubi.
2. Gutabara na Robo Zihutirwa
Ibisabwa:
- Umutingito / Gushakisha Umwuzure no Gutabara Imashini:
Kurugero, robot yubuyapani Active Scope Kamera, izamuka hejuru yimyanda ikoresheje inzira ya mpandeshatu.
- Imashini zishinzwe kuzimya umuriro:
Irashobora kugenda neza ahantu haturika cyangwa inyubako zasenyutse, zifite ibisasu byamazi cyangwa sensor.
Ibyiza:
- Uburebure bwo gukuraho inzitizi burashobora kugera kuri 50% yuburebure bwikurura (nko kwambuka ingazi, inkuta zacitse).
- Igishushanyo kidashobora guturika (rubber crawler + ibikoresho birwanya umuriro).
3. Ibikoresho bya gisirikare n’umutekano
Ibisabwa:
- Imodoka zitagira abapilote (UGV):
Kurugero, robot yo guta ibisasu "TALON" muri Reta zunzubumwe zamerika, hamwe ninzira ya mpandeshatu ishobora guhuza amatongo yintambara hamwe nubutaka bwumucanga.
- Imodoka zirinda imipaka:
Ku irondo rirerire mu misozi cyangwa ubutayu, bigabanya ibyago byo gupima amapine.
Ibyiza:
- Byihishe cyane (moteri yumuriro + inzira-y-urusaku ruke).
- Irwanya kwivanga kwa electronique, ikwiranye n’ahantu handuye, ibisasu bya kirimbuzi, ibinyabuzima na shimi.
4. Ubushakashatsi bwa Polar na Space
Ibisabwa:
- Imodoka yubushakashatsi bwa polar:
Inzira nini zagenewe gutwara hejuru yubukonje (nkimodoka ya shelegi ya Antaragitika).
- Imodoka ya Lunar / Mars:
Ibishushanyo mbonera (nka robot ya Tri-ATHLETE ya NASA), ukoresheje inzira ya mpandeshatu kugirango uhangane nubutaka bwukwezi.
Ibyiza:
- Ibikoresho bikomeza guhagarara neza mubushyuhe buke (nka silicone tracks).
- Irashobora guhuza nubutaka bufite coefficient nkeya cyane.
5. Imashini za robo zinganda n’ibikoresho
Ibisabwa:
- Gukoresha ibikoresho biremereye cyane mu nganda:
Kwimuka hejuru y'insinga n'imiyoboro mumahugurwa y'akajagari.
- Imashini za robo zibungabunga ingufu za kirimbuzi:
Gukora igenzura ryibikoresho muri radiyo kugirango wirinde kunyerera.
Ibyiza:
- Ahantu hahanamye cyane (nta kosa ryo kunyerera ryinzira).
- Inzira zirwanya ruswa (nka polyurethane coating).
6. Imanza zo gusaba udushya
- Imashini za robo:
Kurugero, robot yo mu Busuwisi ANYmal ya kane ifite ibikoresho byometse kuri mpandeshatu irashobora guhinduranya hagati yiziga ninzira.
- Ikinyabiziga Gishakisha Amazi:
Inzira ya mpandeshatu itanga imbaraga ku cyondo cyoroshye ku nyanja, ikayirinda gukomera (nka chassis y'abafasha ya ROV).
7. Ibibazo bya tekinike n'ibisubizo
Ikibazo | Kurwanya ingamba |
Inzira zirashira vuba | Koresha ibikoresho byinshi (nka Kevlar fibre ikomeza reberi) |
Ingufugukoresha ni byinshi | Electro-hydraulic hybrid drive + sisitemu yo kugarura ingufu |
Kugenzura imyifatire igoye | Ongeramo sensor ya IMU + algorithm yo guhagarika imiterere |
8.Icyerekezo cy'iterambere ry'ejo hazaza:
- Kuremerera: Titanium alloy track frame + 3D icapye module.
- Ubwenge: Kumenyekanisha ubutaka bwa AI + kugenga ubwigenge bwo guhagarika inzira.
- Guhuza ingufu nshya: Amavuta ya hydrogène selile + yamashanyarazi.
Incamake
Agaciro shingiro ka trapezoidal crawler chassis iri muri "mobile mobile". Ikoreshwa ryayo riragenda ryiyongera kuva mumashini gakondo iremereye igera mubwenge kandi bwihariye. Hamwe niterambere ryibikoresho siyanse no kugenzura ikoranabuhanga, rifite imbaraga nyinshi mubidukikije bikabije nko gushakisha ikirere cyimbitse no guhangana n’ibiza byo mu mijyi mugihe kizaza.