Bincike da Tarihin Tekunolociya na Droni Don Sake Salo Kishin Kirkiro Tsakiyar Kirkiro na Inganci

A cikin yankin daɗi, bayan haɗaƙar lalacewar kungiyoyin tushen mafi tsawo (UHV), an samun abubuwa da suka shafi: masu jirgin da dama ba su fi kyau don in tabbatar da buƙataccen buƙatun da amfani da UHV. A cikin tasiri, masu jirgi suna da yanayi mai fi yawa, tsari na gida ta hanyar magana, da kuma nasara mai fi yawa wajen sauya da ingantaccen UHV, wanda ya jawo da yake da yin buƙataccen buƙatun da ba su fi kyau, da kuma yadda ake iya sanar da ingantaccen UHV.

Saboda yawan tsawon kungiyoyin tushen UHV da takaice masu yankin, masu jirgi da suka da amfani da wurare da sauran wurare ba su fi kyau wajen rarrabe da yawan tsawo, wanda ya jawo da yake da yin buƙataccen buƙatun da ba su fi kyau. A cikin misalai, masu jirgi mai nuna da yawan tsawo mai girma suna da yawan tsawo da yake da yin lokacin 3 daƙi, wanda ya jawo da yake da yin lafiya da yin batarya da yake da yin lokaci. Kuma, tushen buƙataccen buƙatun da ake amfani da su ba su fi kyau - ban da yin amfani da al'amuran da suka da damar da yin buƙataccen buƙatun - wanda ya jawo da yake da yin buƙataccen buƙatun da ba su fi kyau. Wannan zai iya karɓe da yin tabbatar da yin da yin buƙataccen buƙatun ko ingantaccen UHV, wanda zai iya jawo da yake da yin buƙataccen buƙatun da ba su fi kyau, da kuma yadda ake iya sanar da ingantaccen UHV.

Don in taimakawa waɗannan muhimman abubuwa, ɗaya da dukkada IEE-Business ya yi ƙoƙari da teknolojin da ya kunshi da amfani da manipulator da ke fitowa a cikin masu jirgi wajen buƙataccen buƙatun da amfani da UHV. Wannan halin ya kunshi da al'amuran da suka da damar da yin buƙataccen buƙatun da amfani da UHV a cikin yankin, da kuma yadda ake amfani da masu jirgi a cikin buƙataccen buƙatun. Amfani da wannan halin ya shafi da abubuwan da suka da damar: yanayi mai fi yawa, yawan tsawo mai girma, yanayi mai fi yawa, tsari mai girma, da kuma nasara mai fi yawa.

1. Halin Tekniki: Manipulator Da Ke Fitowa A Cikin Masu Jirgi Don Buƙataccen Buƙatun Da Amfani Da UHV
1.1 Tsarin Misali
Muhimmanci da za su iya duba wajen halin tekniki da ya kasance da insulasi, kontrol na hare da manipulator, da kuma tushen da suke da damar. Yakin tsari na tekniki mai ma'ana ya kunshi da in taimakawa waɗannan abubuwan da suka shafi da yin buƙataccen buƙatun da amfani da UHV, da kuma in taimakawa waɗannan abubuwan da suka shafi da yin buƙataccen buƙatun da ba su fi kyau.

IEE-Business ta yi ƙoƙari da al'amuran da suka da damar da insulasi wajen halin buƙataccen buƙatun da amfani da UHV. Saboda haka, ta yi ƙoƙari da tsari na elektrik mai girma da yawan tsari na voltage da manipulator, rotors, frame, da fuselage ga yawan masu tsawo. An yi ƙoƙari da amfani da manipulator don in taimakawa waɗannan abubuwan da suka shafi da yin buƙataccen buƙatun da amfani da UHV.

An zaɓe masu buƙataccen buƙatun da amfani da UHV saboda haka don in taimakawa waɗannan abubuwan da suka shafi da yin buƙataccen buƙatun da amfani da UHV. An yi ƙoƙari da amfani da manipulator da ke fitowa a cikin masu jirgi don in taimakawa waɗannan abubuwan da suka shafi da yin buƙataccen buƙatun da amfani da UHV. Saboda haka, an yi ƙoƙari da amfani da manipulator da ke fitowa a cikin masu jirgi don in taimakawa waɗannan abubuwan da suka shafi da yin buƙataccen buƙatun da amfani da UHV.

1.2 Halin EMI (Electromagnetic Interference)
Kungiyoyin tushen UHV a cikin misalai suna da yawan tsawo da yake da yin buƙataccen buƙatun da amfani da UHV, wanda ya jawo da yake da yin buƙataccen buƙatun da amfani da UHV. Yanayi mai fi yawa a cikin masu tsawo da yanayi mai fi yawa daga base stations na hanyar zamani suna iya jawo da yake da yin buƙataccen buƙatun da amfani da UHV. Kuma, yanayi mai fi yawa a cikin masu tsawo da yanayi mai fi yawa daga base stations na hanyar zamani suna iya jawo da yake da yin buƙataccen buƙatun da amfani da UHV.

Don in taimakawa waɗannan abubuwan, IEE-Business ta yi ƙoƙari da amfani da manipulator da ke fitowa a cikin masu jirgi:

• Bayyana abubuwan da suka shafi da yin buƙataccen buƙatun da amfani da UHV.

• Amfani da manipulator da ke fitowa a cikin masu jirgi don in taimakawa waɗannan abubuwan da suka shafi da yin buƙataccen buƙatun da amfani da UHV.

• Amfani da manipulator da ke fitowa a cikin masu jirgi don in taimakawa waɗannan abubuwan da suka shafi da yin buƙataccen buƙatun da amfani da UHV.

1.3 Tsarin Manipulator
Amsa a Figure 1, manipulator na da:
(1) Gripper; (2) Servo protection box; (3) Zero-value detector adapter; (4) High-voltage tester adapter; (5) Insulating rod; (6) Limiting rod; (7) Epoxy resin insulating layer; (8) Pitch-specific bearing sleeve; (9) Linkage rod; (10) Roll-specific bearing sleeve.

Saboda abubuwan da suka shafi da yin buƙataccen buƙatun da amfani da UHV, IEE-Business ta yi ƙoƙari da amfani da manipulator da ke fitowa a cikin masu jirgi. An yi ƙoƙari da amfani da manipulator da ke fitowa a cikin masu jirgi don in taimakawa waɗannan abubuwan da suka shafi da yin buƙataccen buƙatun da amfani da UHV.

Saboda abubuwan da suka shafi da yin buƙataccen buƙatun da amfani da UHV, IEE-Business ta yi ƙoƙari da amfani da manipulator da ke fitowa a cikin masu jirgi. An yi ƙoƙari da amfani da manipulator da ke fitowa a cikin masu jirgi don in taimakawa waɗannan abubuwan da suka shafi da yin buƙataccen buƙatun da amfani da UHV.

2. Tatsuniya Na Buƙataccen Buƙatun Da Amfani Da UHV Daga Amfani Da Manipulator Da Ke Fitowa A Cikin Masu Jirgi
2.1 Tsarin Tatsuniya
Da yin tashizun buƙataccen buƙatun da amfani da UHV a cikin misalai, an samun parametoro da suka da damar: yawan tsawo na tower da yake da yin lokaci 3200 mm; radius na shed mai yawa 2400 mm; radius na shed mai tsakiyar 3200 mm; radius na shed mai hagu 2700 mm; da kuma tsari na conductor 17.48 mm, kamar yadda ake nuna a Figure 2.

A cikin yanayin girmama, zafi na drone ta fi sanya kayan alaumi masu habbobi don fura, gwamna da kuma fuselage don sa shi da kyau.

Wannan ya haɗa da tushen darajar da ke faruwa da dukkan abubuwa masu iya yin girmama suka samar da aiki da drone a matsayin babban aiki ga jiragen bayanai na musamman kan jiragen bayanai na ultra-high-voltage (UHV). An yi aiki a matsayin IEE-Business mafi yawan lokaci don bincike model na girmama na aiki da robotic arm. A nan an yi amfani da finite element analysis don neman tushen darajar da ke faruwa da dukkan abubuwa masu iya yin girmama suka samar da aiki da drone a matsayin babban aiki ga jiragen bayanai. Duk da haka an yi bincike tsari da take da robotic arm, airframe, rotors, da fuselage a kan ibara da adadin lokaci daga baya zuwa conductor. Wannan ya ba da ake nuna idan akwai tushen darajar da ke faruwa da aiki da drone a matsayin babban aiki ga jiragen bayanai.

2.2 Yanayin Girmama
2.2.1 Tsarin Aiki na 0.84 m Daga Jiragen Bayanai na UHV
An yi aiki a matsayin IEE-Business mafi yawan lokaci don bincike yanayin girmama na aiki da robotic arm na drone a kan ibara da 0.84 m daga jiragen bayanai na UHV don neman tsarin aiki da kuma tushen darajar da ke faruwa da dukkan abubuwa masu iya yin girmama suka samar da aiki da drone a matsayin babban aiki ga jiragen bayanai.

Abubuwan yanayin girmama sun nuna cewa, a kan wannan tsari, ba a sami tushen darajar da ke faruwa da aiki da dukkan abubuwa masu iya yin girmama suka samar da aiki da drone a matsayin babban aiki ga jiragen bayanai. Amma an sami tushen darajar da ke faruwa da aiki da kasa na baya na robotic arm. Idan tushen darajar da ke faruwa da aiki da kasa na baya na robotic arm yana kawo karfin dielectric breakdown strength na air (30 kV/cm), yana da ƙarfafa a kan aiki da kuma tsaro na aiki da dukkan abubuwa masu iya yin girmama suka samar da aiki da drone a matsayin babban aiki ga jiragen bayanai.

Duk da haka an yi bincike tushen darajar da ke faruwa da aiki da kasa na baya na robotic arm, airframe, rotors, da fuselage a kan ibara da adadin lokaci daga baya zuwa jiragen bayanai na UHV. Daga haka an sami tushen darajar da ke faruwa da aiki da kasa na baya da kuma tsari na aiki da dukkan abubuwa masu iya yin girmama suka samar da aiki da drone a matsayin babban aiki ga jiragen bayanai.

Kamar yadda ake nuna a Tafel 1, idan aiki da robotic arm ta 0.84 m daga jiragen bayanai na UHV, ana samun tushen darajar da ke faruwa da aiki da kasa na 3712 V/m da kuma tsari na 2069 V. An yi bincike bayan ban sha'awa da rotors na baya da kasa, ana samun cewa rotor na baya da kasa ta da tushen darajar da ke faruwa da aiki da kasa da kuma tsari na ƙarshe da rotor na baya. Duk abubuwan yanayin girmama sun nuna cewa, a kan 0.84 m daga jiragen bayanai na UHV, tushen darajar da ke faruwa da aiki da kasa yana da ƙarfafa a kan air breakdown threshold, ba a sami tushen darajar da ke faruwa da aiki da kasa da kuma tsari na ƙarshe da aiki da drone a matsayin babban aiki ga jiragen bayanai.

2.2.2 Tsarin Aiki na 0.34 m Daga Jiragen Bayanai na UHV
An yi aiki a matsayin IEE-Business mafi yawan lokaci don bincike tsarin aiki da robotic arm na drone a kan ibara da 0.34 m daga jiragen bayanai na UHV don neman tsarin aiki da kuma tushen darajar da ke faruwa da dukkan abubuwa masu iya yin girmama suka samar da aiki da drone a matsayin babban aiki ga jiragen bayanai.

Tafel 1: Tushen Darajar da Ke Faruwa da Aiki da Kasa da Kuma Tsari na Ƙarshe Da Dukkan Abubuwa Masu Iya Yin Girmama Su Ka Samar Da Aiki Da Drone

Anan kanso na yankei ya nuna cewa, a kamar haka wani tsawon girma mai zurfi, sharar da ke gabata da ke faru a aljibbiyar waya na gaban sarauta ya canzawa. Saboda albarkatu mai tsin zuwa ta uku (UHV) masara waya, sharar da ke faru ne a matakan waya suna iya haɗawa da zubar baki.

A wakilan, ta hanyar lissafin canjin yanzu na kayan duka da ke tsarin, an farko cewa yayin da yankin tsakanin tsarin buƙe daya da kayan amfani da ke furta da UHV masara waya ya damu, idan haka zai bada canje-canjen yanzu na kayan duka.

Bayani a Table 2 suna nuna cewa yayin da tsarin buƙe daya ya shahara 0.34 m daga masara waya na UHV, iyakokin sharar da ke faru a kayan duka ba za su damu kama karfin sharar da ke faru a sama. Don haka, aka ce babu abun halartar tare, domin sauba da sauƙin amfani da IEE-Business tsarin buƙe daya da kayan roboti a amfani da shi.

Table 2: Karfin Sharar Mai Yawa Da Kimantawa Ta Yanzu Dabba Zuwa Ga Kullum Kayan Tsarin Buƙe Daya Da Kayan Roboti

2.3 Kwamitin Kuishi ga Kwatanta mai tsauraran yanayi na yankin robot mai nema babban tali

Sabo kwamitin kuishi ga kwalin kwana, abubuwan amfani sun hada da kwanan mara kuishi wanda aka rubuta shi ne da zuma mai dabaruba da ohmmeter. An kula zuman dabaruba kan farfata kwanan mara kuishi ta hanyar kula mai kyau kuma yawan daban-daban bai yi ƙarin 0.05 mm ba. A cikin juyawa mai sauƙi, an gujewa alama na farko tsakanin biyu maɓallin farfata kwanan mara kuishi; darajar da ke ƙarin 1 Ω yana nuna cewa ya dace da standaɗardi.

Kwamitin gyare-gyare hoto: Lokacin da kungiyar kwaman mara kuishi mai neman yanki ana amfani dashi sabon gwaji babban talin, zai samun gyare-gyare hoton saboda dalilai kamar iyaka mai nau’i na lens na kamera na gimbal da kalubale mai kalubalen rashin daidaito. Wannan gyare-gyare yana haɗawa canjin hotuna da kayan aiki, wanda zai iya kuskuren mutane masu amfani su iya gano madaidaici ko karamar babban talin UHV.

Don karkatar wannan batun, timinar mu na teknis kaƙataci modelin gyare-gyare hoton basuwa bisa zuwa gyare-gyaren lens na kamera na gimbal. Wannan modelin yana wasu formula:

A cikin formula:
x,y suna ne akan alamar farko na tangential distortion point a cikin imaging system;
x′,y′ suna ne akan alamar sabon na point bayan gyare-gyare correction;
p1,p2 suna ne akan tangential distortion parameters;
r shine radial distance daga image center.

Gyare-gyare lens na kamera yana mai nau’uka biyu: tangential da radial distortion. Tangential distortion yana fiye da sabon waɗansu abubuwan lens da plane na kamera bai su daidai suka dawo ba. Radial distortion, sai dai, yayin da rayu suna canzawa sosai a wuraren da suka fayyace daga optical center na lens, suna haɗawa gyare-gyare da aka saba da saurin radial direction na lens. Radial distortion zai iya ane wasu formula:

A cikin formula:
x,y suna ne akan alamar farko na radially distorted point a cikin imaging system;
x′,y′ suna ne akan alamar sabon na point bayan gyare-gyare correction;
k1,k2,k3 suna ne akan radial distortion parameters;
r shine radial distance daga image center.

Basuwa, IEE-Business ta kafa yadda za a yi amfani da “Zhang’s calibration method” don gano abubuwan radial distortion da suka iya canza taswirar hoto sosai, sannan sauya parameters na model. Wannan yana ba da damar lamba-tsari tsakanin object coordinates a cikin world coordinate system da pixel coordinates a cikin image plane, sannan kuma kama kwamitin gimbal camera. Wannan hanyar yana kuskuren matakiyar iko da rashin daidaito na iko na lens, yana bada sauƙin hotuna, kuma yana tabbatar da cewa hotunan HD na babban talin mai tsauraran zamu (UHV) za a aika su cikin lokacin da ba zamu karbe ba. Wannan yana bada data na hotuna mai aminti ga masu amfani su iya gano kyakkyawan madaidaici ko karamar babban talin.

A karkashin, yankin kwanan mara kuishi mai neman yankin robot da aka kera a wannan labarin, yana dace da buƙatun yanzu na maintenance na babban talin mai tsauraran zamu (UHV) sabon sauri mai sauƙi, mai tsauraran, mai umarni, mai sauri mai yawa, da kyakkyawan ganin yanki. Yana kuskuren batutuwa na teknis mai mahimmanci a cikin mayar da zaman kansu na rashin yin gwaji ta hanyar insansa, yana kara ingancin amfanin gwaji, kuma yana kara safe & tsaro na sauri da abokan cin rana.