Benshi basanzwerobot yingandaamakosa arasesengurwa kandi agasuzumwa muburyo burambuye, kandi ibisubizo bihuye bitangwa kuri buri kosa, hagamijwe guha abakozi bashinzwe kubungabunga hamwe naba injeniyeri ubuyobozi bwuzuye kandi bufatika bwo gukemura ibyo bibazo neza kandi neza.
IGICE CYA 1 Intangiriro
Imashini za robobigira uruhare runini mubikorwa bigezweho. Ntabwo batezimbere umusaruro gusa, ahubwo banatezimbere kugenzura no gutunganya neza umusaruro. Ariko, hamwe nogukoresha kwinshi kwibi bikoresho bigoye mu nganda, amakosa ajyanye nibibazo byo kubungabunga byagaragaye cyane. Dusesenguye ingero nyinshi zisanzwe za robo yinganda, turashobora gukemura byimazeyo no kumva ibibazo rusange muriki gice. Ingero zikurikira zisesengura zirimo ahanini ibibazo byingenzi bikurikira: ibibazo byokwizerwa hamwe namakuru yizewe, imikorere idasanzwe ya robo ikora, ituze rya moteri hamwe nibice bigize ibinyabiziga, ukuri kwa sisitemu yo gutangiza no kuboneza, hamwe nibikorwa bya robo mubikorwa bitandukanye. Binyuze mu isesengura rirambuye no gutunganya ibibazo bimwe na bimwe byamakosa, ibisubizo bitangwa kubakora n'abakozi bireba ubwoko butandukanye bwimashini zisanzwe zibungabunga kugirango zibafashe kuzamura ubuzima bwa serivisi n’umutekano wibikoresho. Mugihe kimwe, ikosa nimpamvu yabyo bigaragazwa uhereye kumpande zose, mubyukuri bikusanya bimwe byingirakamaro kubindi bibazo bisa. Haba mubikorwa bya robo yinganda zigezweho cyangwa mugihe kizaza cyubuhanga bwogukora ubwenge hamwe niterambere ryiza, gutandukanya amakosa hamwe no gushakisha isoko hamwe no gutunganya byizewe nibintu byingenzi mugushinga tekinolojiya mishya no guhugura umusaruro wubwenge.
IGICE CYA 2 Ingero zamakosa
2.1 Imenyekanisha ryihuse Mubikorwa nyirizina byakozwe, robot yinganda yari ifite impuruza yihuta, byagize ingaruka zikomeye kumusaruro. Nyuma yo gusesengura birambuye amakosa, ikibazo cyarakemutse. Ibikurikira nintangiriro yuburyo bwo gusuzuma no gutunganya inzira. Imashini izahita isohora impuruza yihuta kandi igahagarikwa mugihe cyo gukora. Impuruza yihuta irashobora guterwa no guhindura ibipimo bya software, kugenzura sisitemu na sensor.
1) Ibikoresho bya software no gusuzuma sisitemu. Injira muri sisitemu yo kugenzura hanyuma urebe ibipimo byihuta. Koresha sisitemu yo kwipimisha gahunda kugirango umenye ibyuma cyangwa amakosa ya software. Sisitemu yo gukora neza no kwihuta ibipimo byashyizweho kandi bipimwa, kandi nta bidasanzwe.
2) Kugenzura Sensor no kugenzura. Reba umuvuduko hamwe na sensor sensor zashyizwe kuri robo. Koresha ibikoresho bisanzwe kugirango uhindure sensor. Ongera ukore akazi ko kureba niba umuburo wihuse ukiboneka. Igisubizo: Umuvuduko wihuta werekanye ikosa ryo gusoma. Nyuma yo kwisubiramo, ikibazo kiracyahari.
3) Gusimbuza Sensor hamwe nikizamini cyuzuye. Simbuza sensor nshya. Nyuma yo gusimbuza sensor, kora sisitemu yuzuye yo kwisuzumisha hamwe na kalibrasi yongeye. Koresha ubwoko butandukanye bwimirimo kugirango umenye niba robot yagarutse mubisanzwe. Igisubizo: Nyuma yuko sensor nshya yihuta yashyizweho hanyuma igahinduka, umuburo wihuse ntiwongeye kugaragara.
4) Umwanzuro nigisubizo. Gukomatanya uburyo bwinshi bwo gusuzuma amakosa, impamvu nyamukuru yibintu byihuta byiyi robot yinganda ni sensor sensor offset yananiwe, bityo rero birakenewe gusimbuza no guhindura sensor nshya yihuta [.
2.2 Urusaku rudasanzwe Imashini ifite urusaku rudasanzwe mu gihe cyo gukora, bigatuma umusaruro ugabanuka mu mahugurwa y'uruganda.
1) Igenzura ryibanze. Urubanza rwibanze rushobora kuba kwambara cyangwa kubura amavuta. Hagarika robot hanyuma ukore igenzura rirambuye kubice bya mashini (nk'ingingo, ibikoresho hamwe na podiyumu). Himura ukuboko kwa robo intoki kugirango wumve ko hari kwambara cyangwa guterana amagambo. Igisubizo: Ingingo zose hamwe nibikoresho bisanzwe kandi amavuta arahagije. Kubwibyo, ibyo bishoboka birashoboka.
2) Ubundi bugenzuzi: kwivanga hanze cyangwa imyanda. Reba ibimashini bya robot n'inzira igenda kuburyo burambuye kugirango urebe niba hari ibintu byo hanze cyangwa imyanda. Sukura kandi usukure ibice byose bya robo. Nyuma yo kugenzura no gukora isuku, nta kimenyetso cyerekana inkomoko yabonetse, kandi ibintu bidasanzwe byakuweho.
3) Ongera usuzume: Umutwaro utaringaniye cyangwa umutwaro urenze. Reba igenamigambi ryimitwaro yintoki nibikoresho. Gereranya umutwaro nyirizina n'umutwaro usabwa mubisobanuro bya robo. Koresha porogaramu nyinshi zo kugerageza kugirango urebe niba hari amajwi adasanzwe. Ibisubizo: Mugihe cyo kugerageza umutwaro, amajwi adasanzwe yarushijeho kwiyongera cyane cyane munsi yumutwaro mwinshi.
4) Umwanzuro nigisubizo. Binyuze mu bisobanuro birambuye ku mbuga no gusesengura, umwanditsi yizera ko impamvu nyamukuru y’ijwi ridasanzwe rya robo ari umutwaro utaringaniye cyangwa uremereye. Igisubizo: Ongera uhindure imirimo yakazi kugirango umenye neza ko umutwaro ugabanijwe neza. Hindura ibipimo byimiterere yiyi robot nigikoresho kugirango uhuze numutwaro nyirizina. Ongera ugerageze sisitemu kugirango wemeze ko ikibazo cyakemutse. Uburyo bwa tekinike yavuzwe haruguru bwakemuye ikibazo cyijwi ridasanzwe rya robo, kandi ibikoresho birashobora gushyirwa mubikorwa bisanzwe.
2.3 Impuruza yubushyuhe bwo hejuru ya moteri Imashini irashobora gutabaza mugihe cyizamini. Impamvu yo gutabaza nuko moteri iba ishyushye. Iyi leta ishobora kuba ikosa kandi irashobora kugira ingaruka kumikorere no gukoresha robot.
1) Igenzura ryibanze: Sisitemu yo gukonjesha moteri ya robo. Urebye ko ikibazo ari uko ubushyuhe bwa moteri buri hejuru cyane, twibanze ku kugenzura sisitemu yo gukonjesha moteri. Intambwe yo gukora: Hagarika robot, reba niba umuyaga ukonjesha moteri ukora bisanzwe, hanyuma urebe niba umuyoboro ukonje wafunzwe. Igisubizo: Umuyaga ukonjesha moteri numuyoboro ukonje nibisanzwe, kandi ikibazo cya sisitemu yo gukonjesha nticyemewe.
2) Ongera urebe umubiri wa moteri na shoferi. Ibibazo na moteri cyangwa umushoferi wacyo ubwabyo birashobora kuba intandaro yubushyuhe bwo hejuru. Intambwe yo gukora: Reba niba insinga ihuza moteri yangiritse cyangwa irekuye, menya ubushyuhe bwubuso bwa moteri, kandi ukoreshe oscilloscope kugirango urebe niba ibyuka na voltage biva mumashanyarazi. Igisubizo: Byagaragaye ko ibyasohotse kuri flake ya moteri yumushoferi utameze neza.
3) Umwanzuro nigisubizo. Nyuma yuruhererekane rwintambwe zo gusuzuma, twamenye icyateye ubushyuhe bwinshi bwa moteri ya robo. Igisubizo: Simbuza cyangwa usane umushoferi udafite moteri. Nyuma yo gusimburwa cyangwa gusana, ongera usuzume sisitemu kugirango wemeze niba ikibazo cyarakemutse. Nyuma yo gusimburwa no kugerageza, robot yasubukuye imikorere isanzwe kandi nta mpuruza yubushyuhe bukabije bwa moteri.
2.4 Gutangiza ikibazo cyo gutangiza ikibazo Ikibazo cyo gusuzuma iyo robot yinganda itangiye kandi igatangira, habaho amakosa menshi yo gutabaza, kandi hasuzumwa amakosa kugirango ushakishe icyateye amakosa.
1) Reba ibimenyetso byumutekano byo hanze. Byabanje gukekwa ko bifitanye isano nikimenyetso kidasanzwe cyumutekano wo hanze. Injira uburyo bwa "shyira mubikorwa" kugirango umenye niba hari ikibazo cyumuzenguruko wumutekano wa robo. Imashini ikora muburyo bwa "kuri", ariko uyikoresha ntashobora gukuraho itara ryo kuburira, bikuraho ikibazo cyo gutakaza ibimenyetso byumutekano.
2) Kugenzura porogaramu no gutwara ibinyabiziga. Reba niba software igenzura robot yavuguruwe cyangwa yabuze dosiye. Reba abashoferi bose, harimo moteri na sensor. Usanga software hamwe nabashoferi bose bigezweho kandi ntamadosiye yabuze, bityo byemejwe ko iki atari ikibazo.
3) Menya ko amakosa aturuka kuri sisitemu yo kugenzura robot. Hitamo Shyira mubikorwa → Nyuma yo kugurisha → Shyira muburyo bwimikorere muri menu nkuru yigisha pendant. Ongera usuzume amakuru yo gutabaza. Zimya imbaraga za robo. Kubera ko imikorere itasubiye mubisanzwe, birashobora kwemezwa ko robot ubwayo ifite amakosa.
4) Kugenzura umugozi n'umuhuza. Reba insinga zose hamwe nabahuza bahujwe na robo. Menya neza ko nta byangiritse cyangwa ubunebwe. Intsinga zose hamwe nabahuza ntibisanzwe, kandi amakosa ntabwo ari hano.
5) Reba ku buyobozi bwa CCU. Ukurikije impuruza, shakisha SYS-X48 kuri platifomu ya CCU. Itegereze urumuri rwa CCU. Byagaragaye ko itara ryubuyobozi bwa CCU ryerekanwe bidasanzwe, hemezwa ko ubuyobozi bwa CCU bwangiritse. 6) Umwanzuro nigisubizo. Nyuma yintambwe 5 zavuzwe haruguru, hemejwe ko ikibazo kiri mubuyobozi bwa CCU. Igisubizo kwari ugusimbuza ubuyobozi bwa CCU bwangiritse. Ubuyobozi bwa CCU bumaze gusimburwa, iyi sisitemu ya robo irashobora gukoreshwa mubisanzwe, kandi impuruza yambere yibibazo yarakuweho.
2.5 Impinduramatwara yo gutakaza amakuru Nyuma yo gufungura igikoresho, umukoresha wa robo yerekanaga "SMB serial port port port board board board backup yatakaye, amakuru yimibare ya robot yatakaye" kandi ntashobora gukoresha pendant yigisha. Ibintu byabantu nkamakosa yo gukora cyangwa kwivanga kwabantu mubisanzwe bikunze gutera kunanirwa na sisitemu igoye.
1) Itumanaho mbere yo gusesengura amakosa. Baza niba sisitemu ya robo yarasanwe vuba aha, niba abandi bakozi bashinzwe kubungabunga cyangwa abashoramari basimbuwe, kandi niba ibikorwa bidasanzwe no gukemura byakozwe.
2) Reba ibikorwa bya sisitemu n'ibikorwa bya sisitemu kugirango ubone ibikorwa byose bidahuye nuburyo busanzwe bwo gukora. Nta makosa agaragara yo gukora cyangwa kwivanga kwabantu byabonetse.
3) Ikibaho cyumuzunguruko cyangwa kunanirwa ibyuma. Isesengura ryimpamvu: Kuberako ririmo "SMB serial port port port board board", mubisanzwe bifitanye isano itaziguye numuzunguruko. Hagarika amashanyarazi kandi ukurikize inzira zose z'umutekano. Fungura akanama gashinzwe kugenzura robot hanyuma urebe ikibaho cyo gupima icyambu cya SMB hamwe nizindi nzitizi zijyanye. Koresha igikoresho cyo kugerageza kugirango uhuze umuzenguruko n'ubunyangamugayo. Reba neza ibyangiritse kumubiri, nko gutwika, kumena cyangwa ibindi bidasanzwe. Nyuma yubugenzuzi burambuye, ikibaho cyumuzunguruko hamwe nibikoresho bifitanye isano bisa nkibisanzwe, nta byangiritse bigaragara kumubiri cyangwa ibibazo byihuza. Ibishoboka byubuyobozi bwumuzunguruko cyangwa gutsindwa ibyuma ni bike.
4) Kubika ikibazo cya bateri. Kubera ko ibintu bibiri byavuzwe haruguru bigaragara nkibisanzwe, tekereza kubindi bishoboka. Kwigisha pendant ivuga neza ko "bateri yinyuma yatakaye", ihinduka intumbero ikurikira. Shakisha ahantu hihariye wa bateri yinyuma kuri kabine cyangwa robot. Reba ingufu za bateri. Reba niba interineti ya bateri na connexion bidahwitse. Byagaragaye ko ingufu za batiri zinyuma zari munsi yurwego rusanzwe, kandi nta mbaraga zisigaye. Kunanirwa birashoboka ko byatewe no kunanirwa kwa bateri yinyuma.
5) Igisubizo. Gura bateri nshya yuburyo bumwe nibisobanuro nka bateri yumwimerere hanyuma uyisimbuze ukurikije amabwiriza yabakozwe. Nyuma yo gusimbuza bateri, kora sisitemu yo gutangiza no guhinduranya ukurikije amabwiriza yabakozwe kugirango agarure amakuru yatakaye cyangwa yangiritse. Nyuma yo gusimbuza bateri no gutangira, kora sisitemu yuzuye kugirango urebe ko ikibazo cyakemutse.
6) Nyuma yisesengura rirambuye nubugenzuzi, ubanza gukekwaho amakosa yibikorwa hamwe ninama yumuzunguruko cyangwa kunanirwa ibyuma ntibyabujijwe, kandi byaje kwemezwa ko ikibazo cyatewe na bateri itabitswe neza. Mugusimbuza bateri yinyuma no gutangiza no guhinduranya sisitemu, robot yongeye gukora bisanzwe.
IGICE CYA 3 Ibyifuzo byo gufata neza buri munsi
Kubungabunga buri munsi nurufunguzo rwo gukora imikorere ihamye yimashini zinganda, kandi ingingo zikurikira zigomba kugerwaho. .
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IGICE CYA 4 Umwanzuro
Kugirango tumenye kandi tumenye amakosa, amakosa asanzwe ya robo yinganda agabanijwemo amakosa yibikoresho, amakosa ya software hamwe nubwoko busanzwe bwa robo. Amakosa asanzwe ya buri gice cya robot yinganda nibisubizo hamwe nubwitonzi byavuzwe muri make. Binyuze mu ncamake irambuye yo gutondekanya, turashobora gusobanukirwa neza nubwoko bukunze kwibeshya bwimashini za robo zinganda muri iki gihe, kugirango dushobore gusuzuma vuba no kumenya icyateye amakosa mugihe habaye amakosa, kandi tukayakomeza neza. Hamwe niterambere ryinganda zigana automatike nubwenge, robot yinganda zizarushaho kuba ingenzi. Kwiga no kuvuga muri make ni ngombwa cyane kugirango dukomeze kunoza ubushobozi n'umuvuduko wo gukemura ibibazo kugirango uhuze n'ibidukikije bihinduka. Nizere ko iyi ngingo izagira akamaro kanini kubakora imyitozo ngororamubiri mu bijyanye na robo y’inganda, kugira ngo iteze imbere iterambere ry’imashini zikoreshwa mu nganda kandi zikore neza inganda zikora.
Igihe cyo kohereza: Ugushyingo-29-2024
