UMXHOLO
Eli nqaku lisekelwe kuvavanyo lwebhubhoratri kwaye lijolise ekuchazeni umahluko we-latency phakathi kweikhonkco lonxibelelwano olungenazingcingo kunye nekhonkco lekhebula kwizithuthi ezizimeleyo eziphantsi komhlaba ezingenabantu kunye nekhamera yeZED VR.Kwaye ufumanise ukubaikhonkco engenazingcingoithembekile kakhulu ekuqinisekiseni imbono ye-3D ebonakalayo ye-UGV.
1. Intshayelelo
I-UGV isetyenziswa ngokubanzi kwiindawo ezahlukeneyo ekunzima ukufikelela kuzo okanye eziyingozi kukhuseleko lwabantu, umz. indawo yentlekele yendalo, imitha, okanye ukuthomalalisa ibhombu emkhosini.Kwi-tele-operated search kunye nokuhlangula i-UGV, imbono ye-3D ebonakalayo yendawo ye-UGV inempembelelo enzulu kwi-human-robot-interaction awareness of the UGV environment.Oko kufuna
Ulungelelwaniso lwexesha lokwenyani lolwazi lombuso, ingxelo yexesha lokwenyani yentshukumo, ulwazi lwesenzo kunye nengxelo ehambelanayo yevidiyo yerobhothi ekude.Ngolwazi lwexesha lokwenyani i-UGV inokulawulwa ngokuthe ngqo kwaye ngaphandle kwamacingo kuluhlu olude kunye neendawo ezingezizo zombono.
Ezi nkcukacha zolwazi zibandakanya zombini iipakethi zedatha ezimfutshane kunye nexesha langempela lokusasazwa kwedatha yemidiya, exutywe kunye kwaye idluliselwe kwiqonga lolawulo ngekhonkco lokuhambisa.Ngokucacileyo, kukho iimfuno eziphezulu kakhulu ekulibazisekeni kwekhonkco elingenazingcingo.
1.1.Ikhonkco lonxibelelwano olungenazingcingo
I-IWAVE ikhonkco yonxibelelwano olungenacingo lwe-FDM-6600 iModyuli yeRadiyo inikezela ngenethiwekhi ye-IP ekhuselekileyo kunye ne-encryption yokuphela ukuya ekupheleni kunye nokuqhagamshelwa kwe-Layer 2 engenamthungo, imodyuli ye-FDM-6600 inokudityaniswa lula phantse kuyo nayiphi na iqonga okanye isicelo.
Ikhaphukhaphu kwaye idimension encinci ifanelekile kwi-SWAP-C (Ubungakanani, Ubunzima, Amandla kunye neNdleko)- ii-UAV kunye nezithuthi eziphantsi ezingenabantu kwi-UHF, i-S-Band kunye ne-C-Band frequency.Inika unxibelelwano olukhuselekileyo, oluthembeke kakhulu lokuhanjiswa kwevidiyo ngexesha langempela lokucupha iselula, i-NLOS (engekho kwi-line-of-sight) yonxibelelwano, kunye nomyalelo kunye nolawulo lweedrones kunye nerobhothi.
1.2.Izithuthi eziphantsi komhlaba ezingenabantu
Irobhothi inomhlaba omninzi iyakwazi ukukhwela imiqobo.Inxibelelana nekhamera yeZED yokubamba ifidi yevidiyo malunga ne-UGV.Kwaye i-UGV isebenzisa ikhonkco ye-FDM-6600 engenazintambo ukufumana iifidi zevidiyo ezivela kwi-ZED kwiikhamera zebhodi.Ngaxeshanye iifidi zevidiyo zithunyelwa kwikhompyuter yesikhululo somqhubi ukuze kuveliswe imiboniso yeVR kwidatha yevidiyo efunyenwe yirobhothi.
2.UvavanyoCNONE
Uvavanyongeumahluko wokulibaziseka phakathiIWAVEukuhanjiswa kwamacingo kunye nokuhanjiswa kwentambo ye-RJ45 xa uhambisa ikhamera yeZED 720P * 30FS ividiyo ukusuka kwirobhothi ukuya kwi-V yangasemvaRumncedisi.
Okokuqala sebenzisa ikhonkco elingenazingcingo le-IWAVE ukusasaza ukusasazwa kwevidiyo, ukulawula idatha kunye nenye idatha yenzwa evela kwi-NVIDIA IPC.
Okwesibini usebenzisa intambo ye-RJ45 yokutshintsha ikhonkco elingenazingcingo lokuhambisa idatha yomfanekiso, idatha yokulawula kunye nedatha yenzwa ukusuka kwicala lerobhothi ukuya kwicala lomlawuli.
3. Iindlela zoVavanyo
Ikhamera yeZED yerobhothi idubula isoftware yexesha le-stopwotshi, kwaye emva koko ibeka iseva yeVR kunye nesoftware yesitophuwashi kwisikrini esifanayo ukuze ithathe ifoto efanayo (inqaku eliphindwe kabini) kwaye urekhode umahluko phakathi kwamanqaku amabini exesha lefoto efanayo.
4. Iziphumo zoVavanyo kunye noHlahlelo:
| Idatha yeLatency | ||||||
| Amaxesha | Ixesha leSoftware | Isikrini se-VR Sever | IWAVE Wireless uNxibelelwano Latency | Ixesha leSoftware | Isikrini se-VR Sever | RJ45 iCable 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. Izigqibo:
Kule meko, akukho mahluko ubalulekileyo phakathi kwe-latency yonxibelelwano olungenazingcingo kwi-high-definition yokuthengwa kwevidiyo, ukuhanjiswa, ukudibanisa, kunye nokubonisa, kunye ne-latency yokudluliselwa ngokuthe ngqo ngentambo yenethiwekhi.
Ixesha lokuposa: Feb-27-2023
