Ukukhishwa kwephrojekthi ye-OpenBot 0.5 kushicilelwe, kwakhiwa inkundla yokudala amarobhothi anamasondo ahambayo, isisekelo sawo okuyi-smartphone evamile esekelwe ku-Android. Inkundla yakhiwe esigabeni socwaningo se-Intel futhi ithuthukisa umbono wokusebenzisa amakhono ekhompiyutha we-smartphone kanye ne-GPS, i-gyroscope, ikhampasi nekhamera eyakhelwe ku-smartphone lapho kwakhiwa amarobhothi.
Isofthiwe yokulawula irobhothi, ukuhlaziywa kwemvelo kanye nokuzulazula okuzenzakalelayo kusetshenziswa njengohlelo lokusebenza lwenkundla ye-Android. Ikhodi ibhalwe nge-Java, Kotlin kanye ne-C++ futhi isakazwa ngaphansi kwelayisensi ye-MIT. Kulindeleke ukuthi inkundla ingaba wusizo ekufundiseni amarobhothi, udale ngokushesha ama-prototypes akho amarobhothi anyakazayo, kanye nokwenza ucwaningo oluhlobene nama-autopilots kanye nokuzulazula okuzenzakalelayo.
I-OpenBot ikuvumela ukuthi uqale ukuhlola amarobhothi anyakazayo ngezindleko eziphansi - ukuze wakhe irobhothi ongakwazi ukulithola nge-smartphone yebanga eliphakathi nezinye izingxenye ezengeziwe ezibiza cishe u-$50. I-chassis yerobhothi, kanye nezingxenye ezihambisanayo zokunamathisela i-smartphone, ziphrintwa kuphrinta ye-3D ngokuvumelana nezakhiwo ezihlongozwayo (uma ungenayo iphrinta ye-3D, ungakwazi ukusika ifreyimu ngaphandle kwekhadibhodi noma i-plywood). Ukunyakaza kunikezwa amamotho kagesi amane.
Ukulawula izinjini, okunamathiselwe kanye nezinzwa ezengeziwe, kanye nokuqapha ukushajwa kwebhethri, ibhodi ye-Arduino Nano esekelwe ku-microcontroller ye-ATmega328P isetshenziswa, exhunywe kwi-smartphone ngembobo ye-USB. Ukwengeza, ukuxhumeka kwezinzwa zesivinini kanye ne-sonar ye-ultrasonic kusekelwa. Ukulawula kude irobhothi kungenziwa ngohlelo lokusebenza lweklayenti le-Android, ngekhompyutha etholakala kunethiwekhi efanayo ye-WiFi, ngesiphequluli sewebhu, noma ngesilawuli somdlalo esisekelwa i-Bluetooth (isibonelo, i-PS4, i-XBox ne-X3).
Isofthiwe yokulawula esebenza ku-smartphone ihlanganisa isistimu yokufunda yomshini yokubona izinto (kunqunywa izinhlobo zezinto ezingaba ngu-80) nokwenza imisebenzi yokuhlola okuzenzakalelayo. Uhlelo lokusebenza luvumela irobhothi ukuthi libone izinto elizifunayo, ligweme izithiyo, lilandele into ekhethiwe futhi lixazulule izinkinga zokuzulazula ezizimele. Isibonelo, irobhothi lingathuthela endaweni ethile kumodi yokushayela ngokuzenzakalela, lizivumelanise nezinguquko endaweni. Ukunyakaza nakho kungalawulwa ngesandla, kusetshenziswa irobhothi njengekhamera ehambayo enerimothi.
Inguqulo entsha ihlele kabusha ngokuphawulekayo i-firmware ye-Arduino, manje esekela izinhlobo ezengeziwe zamarobhothi (i-RTR ne-RC). Uhlelo lokusebenza lwe-Android lwengeze usekelo lwephrothokholi entsha yemiyalezo ene-microcontroller firmware, amandla okucubungula imilayezo yokumisa asetshenzisiwe, futhi usekelo lokulawula kusetshenziswa izilawuli zegeyimu seluklanywe kabusha. Kungezwe amamodeli wokuphrinta kwe-3D kwe-chassis entsha ye-RC-Truck.
Inkinobho yokushintsha ikhamera irobhothi yengeziwe kuhlelo lokusebenza lweklayenti futhi ukusekelwa kwephrothokholi ye-RTSP kunqanyuliwe kuvumela i-WebRTC. Isixhumi esibonakalayo sewebhu esisekelwe ku-Node.js sinikeza amandla okulawula ukude ukunyakaza kwerobhothi ngesiphequluli esisakazwa ngedatha kusuka kukhamera yevidiyo yerobhothi kusetshenziswa i-WebRTC.
Source: opennet.ru