Khesisi ea ka tlas'a seporo ke tlhohonolofatso bakeng sa mechini e menyenyane

Ka sebele tšhase ea tsela e tlisa ntlafatso ea bohlokoa ea ts'ebetso le katoloso ea ts'ebeliso ho liroboto tse nyane, haholo-holo mabapi le ho ikamahanya le maemo le ts'ebetso libakeng tse rarahaneng, tse ka nkoang e le "tlhohonolofatso". Mona ke melemo ea mantlha le litekanyetso tsa ts'ebeliso tse sebetsang tsa tšhase ea tsela bakeng sa liroboto tse nyane:

1. Ho phunyeletsa lithibelo tsa sebaka le ho atolosa maemo a ts'ebeliso

**Ho ka tsamauoa habonolo sebakeng se rarahaneng:Chassis ea tsela e eketsa sebaka sa ho kopana le ho aba khatello ho nolofalletsa liroboto tse nyane ho sebetsana habonolo le libaka tse kang lehlabathe, seretse, majoe, lehloa, esita le litepisi tseo liroboto tsa setso tse nang le mabili li thatafalloang ho kena ho tsona. Mohlala:

--Liroboto tsa liphallelo likoluoeng: Ho tšela litšitiso libakeng tse oeleng kapa tse oeleng ho etsa mesebetsi ea ho batla le ho pholosa (joalo ka roboto ea Japanese Quince).
--Liroboto tsa temo: Ho tsamaea ka mokhoa o tsitsitseng masimong a bonolo ho fihlela mesebetsi ea ho jala kapa ho fafatsa e phethehile.

**Ho hloa leralla le moepa le bokgoni ba ho tshela ditshitiso:Ho tshwara ha tjhase ya tsela ho e nolofalletsa ho hlwella matsoapo a 20°-35° le ho tshela ditshitiso tsa 5-15cm, e leng se etsang hore e lokele diphuputso tsa masimo kapa boithuto ba sesole.

2. Ho ntlafatsa botsitso le bokgoni ba ho jara

**Moralo o tlase oa setsi sa matla a khoheli
Hangata tšhase ea terene e tlase ho feta tšhase e nang le mabili 'me e na le setsi se tsitsitseng sa matla a khoheli, e leng se etsang hore e lokele ho jara lisebelisoa tse nepahetseng (joalo ka LiDAR, matsoho a roboto) ntle le ho thella.

**Monyetla o moholo oa mojaro
Chassis e nyane ea tsela e ka jara meroalo ea 5-5000kg, e lekaneng ho kopanya li-sensor tse fapaneng (lik'hamera, IMU), libeteri, le lisebelisoa tsa ts'ebetso (joalo ka manala a mechini, li-detector tsa liphoso).

3. Ho fihlela litlhoko tsa ts'ebetso ea lebelo le tlase le e nepahetseng haholo

**Taolo e nepahetseng
Litšobotsi tsa lebelo le tlase le torque e phahameng tsa pina li loketse maemo a hlokang motsamao o nepahetseng, joalo ka:
--Tlhahlobo ea indasteri: Ho tsamaea butle liphaepheng tse tšesaane kapa libakeng tsa lisebelisoa ho lemoha mapetso kapa ho se tloaelehe ha mocheso.
--Phuputso ea lipatlisiso tsa mahlale: Pokello ea lisampole tse tsitsitseng sebakeng sa Mars se etsisitsoeng (se tšoanang le mohopolo oa moralo oa rover oa NASA).

**Ts'ebetso e tlase ea ho thothomela
Ho kopana ho sa khaotseng le mobu ke tsela ho fokotsa ho kobeha le ho sireletsa dikarolo tsa elektroniki tse nepahetseng ho tloha ho thothomelong.

4. Ho lumellana ha modular le bohlale

**Li-interface tse potlakileng tsa katoloso
Bongata ba chassis ea litsela tsa khoebo (joalo ka Husarion ROSbot) e fana ka li-interface tse tloaelehileng, tse tšehetsang kopanyo e potlakileng ea li-algorithms tsa ROS (Robot Operating System), SLAM (Simultaneous Localization and Mapping), li-module tsa puisano tsa 5G, jj.

**Ho ikamahanya le ntshetsopele ya AI
Hangata tšhase ea terene e sebelisoa e le liforomo tsa nts'etsopele bakeng sa liroboto tse tsamaeang, tse kopantsoeng le litsamaiso tsa pono e tebileng ea ho ithuta (joalo ka temoho ea sepheo, moralo oa tsela), tse sebelisoang lipatroleng tsa ts'ireletso, polokelo e bohlale ea thepa, jj.

5. Maemo a tloaelehileng a ts'ebeliso

**Thuso ea likoluoa
Roboto ea Japane ea FUHGA e sebelisa chassis ea tsela ho batla baphonyohi lithakong tsa kamora tšisinyeho ea lefatše le ho fetisa litšoantšo ka nako ea sebele libakeng tse patisaneng.

**Patlisiso ea saense ea polar
Liroboto tsa lipatlisiso tsa saense tsa Antarctic li hlomelitsoe ka chassis e pharaletseng ho etsa mesebetsi ea ho beha leihlo tikoloho mobung o koahetsoeng ke lehloa.

**Temo e bohlale
Liroboto tsa serapa sa litholoana (tse kang Liroboto tse Butsoitseng) li sebelisa chassis ea tsela ho tsamaea ka boikemelo lirapeng tsa litholoana tse thata, li fihlella ho kotula litholoana le ho lemoha maloetse le likokoanyana.

**Thuto/Liphuputso
Chassis ea tsela e bulehileng joalo ka TurtleBot3 e sebelisoa haholo lilaboratoring tsa univesithi ho holisa litalenta nts'etsopele ea algorithm ea liroboto.

6. Litaelo tsa Nts'etsopele ea Nakong e Tlang

**Tšebeliso e bobebe le e tlase ea matla
Sebelisa litsela tsa carbon fiber kapa thepa e ncha e kopantsoeng ho fokotsa boima le ho atolosa mefuta e fapaneng ea ts'ebetso.

**Sistimi ea ho Suspensa e Sebetsang
Fetola tsitsipano ea litsela kapa bophahamo ba chassis ka mokhoa o feto-fetohang ho ikamahanya le libaka tse feteletseng (joalo ka mekhoabo kapa ho hloa ka ho otloloha).

- **Moralo oa Bionic
Etsisa metsamao e tenyetsehang e etsisang metsamao ea libopuoa tse phelang (joalo ka linoha kapa manonyeletso a likokoanyana) ho ntlafatsa ho tenyetseha le ho feta.