ABSTRACT
Lesi sihloko sisekelwe ekuhlolweni kwaselabhorethri futhi ihlose ukuchaza umehluko wokubambezeleka phakathi kweisixhumanisi sokuxhumana esingenantambo kanye nesixhumanisi sekhebula ezimotweni ezizimele ezingenamuntu ezinekhamera ye-ZED VR.Futhi thola umaisixhumanisi esingenantamboinokwethenjelwa kakhulu ekuqinisekiseni umbono obonakalayo we-3D we-UGV.
1.Isingeniso
I-UGV isetshenziswa kabanzi ezindaweni ezehlukene okunzima ukufinyelela kuzo noma eziyingozi ngokuphepha kwabantu, isb endaweni yenhlekelele yemvelo, imisebe, noma ukudambisa ibhomu kwezempi.Kusesho olusetshenziswa ngocingo nokuhlenga i-UGV, umbono obonakalayo we-3D wendawo ye-UGV unomthelela ojulile ekuqwashiseni ukusebenzisana kwerobhothi lomuntu ngendawo ye-UGV.Okudingayo
Ukuvumelanisa kwesikhathi sangempela solwazi lwezwe, impendulo yesikhathi sangempela sokuthinta, ulwazi lwesenzo kanye nempendulo ehambisanayo yevidiyo yerobhothi ekude.Ngolwazi olukhona lwesikhathi sangempela i-UGV ingalawula ngokunembile nangokungenantambo ebangeni elide nezimo ezingezona zomugqa wokubona.
Le datha yolwazi ihlanganisa kokubili amaphakethe wedatha amafushane kanye nedatha yemidiya yokusakaza ngesikhathi sangempela, exutshwa ndawonye futhi idluliselwe kuplathifomu yokulawula ngesixhumanisi sokudlulisela.Ngokusobala, kunezidingo eziphakeme kakhulu ekubambezelekeni kwesixhumanisi esingenantambo.
1.1.Isixhumanisi sokuxhumana okungenantambo
Isixhumanisi sokuxhumana okungenantambo se-IWAVE FDM-6600 Radio Module inikeza inethiwekhi ye-IP evikelekile enombhalo oyimfihlo ophuma ekupheleni kanye noxhumano olungenamthungo lwe-Layer 2, imojula ye-FDM-6600 ingahlanganiswa kalula cishe kunoma iyiphi inkundla noma uhlelo lokusebenza.
I-lightweight kanye ne-dimension encane ilungele i-SWAP-C (Usayizi, Isisindo, Amandla kanye Nezindleko)- Ama-UAV nezimoto zaphansi ezingenamuntu ku-UHF, S-Band kanye ne-C-Band.Inikeza ukuxhumana okuphephile, okuthembeke kakhulu kokudluliswa kwevidiyo ngesikhathi sangempela sokubhekwa kweselula, ukuxhumana kwe-NLOS (okungeyona yomugqa wokubona), nomyalo nokulawula ama-drones namarobhothi.
1.2.Izimoto zaphansi ezingenamuntu
Irobhothi liyakwazi ukuhambahamba ezindaweni eziningi futhi lingakwazi ukukhuphuka izithiyo.Ixhuma ngekhamera ye-ZED yokuthwebula okuphakelayo kwevidiyo kuzungeze i-UGV.Futhi i-UGV isebenzisa isixhumanisi esingenantambo se-FDM-6600 ukuze yamukele izifunzo zevidiyo ezivela kumakhamera asebhodini e-ZED.Ngesikhathi esifanayo okuphakelayo kwevidiyo kuthunyelwa kukhompyutha yesiteshi sika-opharetha ukuze kukhiqizwe izigcawu ze-VR ngedatha yevidiyo etholwe irobhothi.
2.IsivivinyoCinto:
Hlolaingumehluko wokulibaziseka phakathiIWAVEukudlulisa okungenantambo kanye nokudluliswa kwentambo ye-RJ45 lapho uthumela ividiyo ye-ZED Camera 720P*30FS isuka erobhothini iye ekugcineni kwe-VRiseva.
Okokuqala sebenzisa isixhumanisi esingenantambo se-IWAVE ukuze udlulise ukusakazwa kwevidiyo, lawula idatha nenye idatha yenzwa evela ku-NVIDIA IPC.
Okwesibili kusetshenziswa intambo ye-RJ45 esikhundleni sesixhumanisi esingenantambo sokudlulisa idatha yesithombe, lawula idatha nedatha yenzwa ukusuka ohlangothini lwerobhothi kuya ohlangothini lwesilawuli.
3. Izindlela Zokuhlola
Ikhamera ye-ZED yerobhothi ishutha isofthiwe yesikhathi sesitophuwashi, bese ibeka iseva ye-VR kanye nesofthiwe yesitophuwashi esikrinini esifanayo ukuze ithathe isithombe esifanayo (iphoyinti lokugxila elikabili) futhi irekhode umehluko phakathi kwamaphoyinti esikhathi amabili esithombe esifanayo.
4. Imiphumela Yokuhlola Nokuhlaziya:
| Idatha yokubambezeleka | ||||||
| Izikhathi | Isikhathi Software | Isikrini se-VR Sever | IWAVE Wireless Communication Latency | Isikhathi Software | Isikrini se-VR Sever | I-RJ45 Cable Ukubambezeleka |
| 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. Iziphetho:
Kulesi simo, awukho umehluko obalulekile phakathi kokubambezeleka kokuxhumana okungenantambo ekutholweni kwevidiyo enencazelo ephezulu, ukudluliswa, ukuqoshwa kwamakhodi, nokuboniswa, kanye nokubambezeleka kokudluliswa okuqondile ngentambo yenethiwekhi.
Isikhathi sokuthumela: Feb-27-2023
