Kuva ku minyururu ya roboti itwara kugeza ku mikandara itwara ibicuruzwa mu mikorere y’uruhererekane rw’ibikoresho kugeza ku miyoboro y’imiyaga, kumenya aho ibintu biri ni ingenzi mu bikorwa bitandukanye. Bishobora gufata imiterere myinshi, harimo sensor zigororotse, zizunguruka, zigororotse, zitagira aho zihurira n’izitari aho zihurira. Hakozwe sensor zihariye zishobora kumenya aho ibintu biri mu byiciro bitatu. Ikoranabuhanga ryo kumenya aho ibintu biri ririmo potentiometric, inductive, eddy current, capacitive, magnetostrictive, Hall effect, fiber optic, optical na ultrasonic.
Iyi FAQ itanga incamake y'uburyo butandukanye bwo kumenya aho ibintu biherereye, hanyuma igasuzuma ikoranabuhanga ritandukanye abashushanya bashobora guhitamo mu gushyira mu bikorwa igisubizo cyo kumenya aho ibintu biherereye.
Ibyuma bipima aho ibintu bihagaze ni ibikoresho bishingiye ku busugire bihuza inzira ihamye yo kugabanya ubusugire n'agahanagura gafatanye n'ikintu aho giherereye hagomba kumvikana. Ingendo z'ikintu zijyana ibyuma bipima aho ibintu binyura. Aho ikintu giherereye hapimwa hakoreshejwe umuyoboro ugabanya ubusugire bw'amashanyarazi ukorwa n'imiyoboro n'ibyuma bipima uburyo bwo gupima imikorere y'umurongo cyangwa izenguruka hakoreshejwe voltage idahinduka ya DC (Ishusho ya 1). Ibyuma bipima ubusugire bw'amashanyarazi birahendutse, ariko muri rusange bifite ubuziranenge buke kandi ntibisubiramo.
Ibyuma bipima aho bikura bikoresha impinduka mu miterere y’imbaraga rukuruzi ziterwa na koili y’imashini. Bitewe n’imiterere yabyo, bishobora gupima aho bikura cyangwa aho bizenguruka. Ibyuma bipima aho bikura bihindura imiterere y’imashini (LVDT) bikoresha imiyoboro itatu izungurutse ku muyoboro w’ubusa; koili y’ibanze n’imiyoboro ibiri y’inyongera. Ibyuma bihujwe mu buryo bukurikiranye, kandi isano iri hagati y’imashini y’inyongera iri kuri dogere 180 ugereranije n’imashini y’inyongera. Ishingiro rya ferromagnetic ryitwa armature rishyirwa imbere mu muyoboro rigahuzwa n’ikintu kiri ahantu hapimwe. Voltage yo gushyushya ikoreshwa kuri koili y’ibanze maze imbaraga za electromagnetic (EMF) zigahuzwa muri koili y’inyongera. Mu gupima itandukaniro ry’ingufu hagati y’imiyoboro y’inyongera, aho armature iri n’icyo ifatanye na cyo bishobora kumenyekana. Transformer y’ingufu izunguruka (RVDT) ikoresha uburyo bumwe kugira ngo ikurikirane aho izenguruka. Ibyuma bipima LVDT na RVDT bitanga ubuziranenge bwiza, umurongo, ubushobozi bwo gusubiza ibintu mu buryo no kumva neza. Ntibishobora gukururana kandi bishobora gufungwa kugira ngo bikoreshwe mu bidukikije bikomeye.
Utumashini dupima aho umuriro unyura dukora (Eddy current position sensors) dukorana n'ibintu biyobora amashanyarazi. Utumashini dupima aho umuriro unyura (Eddy current current) ni utumashini dukoresha amashanyarazi tuba mu bikoresho biyobora amashanyarazi mu gihe hari imbaraga zihinduka za rukuruzi. Utumashini dupima aho umuriro unyura (Eddy current sensors) tugizwe na coils na linearization circuits. Umuyaga uhindagurika uha imbaraga coil kugira ngo ikore ingufu zidasanzwe za rukuruzi. Iyo ikintu cyegereye cyangwa kivuye kuri coil, aho giherereye hashobora kumvikana hakoreshejwe uburyo amashanyarazi ya kabiri akorwa n'imbaraga zihindagurika, ibyo bikaba bigira ingaruka ku kubuza kwa coil. Uko ikintu cyegera coil, igihombo cy'amashanyarazi ya eddy kiriyongera kandi ingufu zihindagurika zigahita ziba nke (Ishusho ya 2). Umuyaga uhindagurika ugenda utunganywa na linearizer circuit kugira ngo haboneke umusaruro wa DC ujyanye n'intera y'ikintu.
Ibikoresho bya Eddy current ni ibikoresho bikomeye, bidakora ku kintu kimwe, bikunze gukoreshwa nk'ibikoresho byo kugenzura imiterere y'ikintu. Bikoresha icyerekezo kimwe kandi bishobora kumenya intera iri hagati y'ikintu n'ikindi, ariko ntibigena icyerekezo cyangwa intera iri hagati y'ikintu n'ikindi.
Nk'uko izina ribigaragaza, sensors zo mu mwanya w'ingufu zipima impinduka mu bushobozi kugira ngo zimenye aho ikintu kiri kumva giherereye. Izi sensors zidakora zishobora gukoreshwa mu gupima aho umurongo cyangwa aho zizenguruka. Zigizwe n'amasahani abiri atandukanyijwe n'ibikoresho bya dielectric kandi zikoresha bumwe mu buryo bubiri kugira ngo zimenye aho ikintu kiri:
Kugira ngo habeho impinduka mu gipimo cy’amashanyarazi, ikintu kigomba kugaragara aho giherereye gifatanye n’ibikoresho bya dielectric. Uko ibikoresho bya dielectric bigenda, igipimo cy’amashanyarazi gifatika cya capacitor kirahinduka bitewe n’uko agace k’ibikoresho bya dielectric n’igipimo cy’umwuka cya dielectric kigenda. Ubundi buryo, ikintu gishobora guhuzwa na kimwe mu byapa bya capacitor. Uko ikintu kigenda, ibyapa bigenda byegera cyangwa birebire, kandi impinduka mu bushobozi zikoreshwa mu kugena aho giherereye.
Utwuma dupima ubushobozi bw'umuntu dushobora gupima kwimuka, intera, aho ibintu biherereye n'ubugari bw'ibintu. Bitewe n'uko ibimenyetso byabyo bihamye kandi bifite ubushobozi bwo kubikemura, utwuma dupima ubushobozi bw'umuntu dukoreshwa mu duce twa laboratwari n'inganda. Urugero, utwuma dupima ubushobozi bw'umuntu dukoreshwa mu gupima ubugari bwa filime n'uburyo bwo gufunga mu buryo bwikora. Mu mashini zikora, dukoreshwa mu kugenzura kwimuka n'aho ibikoresho biherereye.
Magnetostriction ni imiterere y'ibikoresho bya ferromagnetike bituma ibikoresho bihindura ingano cyangwa imiterere yabyo iyo ingufu za rukuruzi zikoreshejwe. Muri sensor ya magnetostrictive position, magneti yimukanwa ifatanywa ku kintu kiri gupimwa. Igizwe n'umurongo w'umuraba ugizwe n'insinga zitwara ingufu za rukuruzi, zihujwe na sensor iri ku mpera y'umurongo w'umuraba (Ishusho ya 3). Iyo ingufu za rukuruzi zoherejwe ku murongo w'umuraba, imbaraga za rukuruzi zikorwa mu mugozi ukorana n'umugozi wa rukuruzi w'umuraba uhoraho (magneti iri muri piston ya silindiri, Ishusho ya 3a). Ikorana ry'umuraba riterwa no kuzunguruka (ingaruka za Wiedemann), zikora umugozi, zigatanga umugozi w'umuraba ukwirakwira ku murongo w'umuraba kandi ukabonwa na sensor iri ku mpera y'umurongo w'umuraba (Ishusho ya 3b). Mu gupima igihe cyashize hagati yo gutangira kw'imbaraga za rukuruzi no kumenya ingufu za rukuruzi, aho ingufu za rukuruzi ziri bityo n'ikintu gishobora gupimwa (Ishusho ya 3c).
Utwuma dupima aho ibintu biherereye ni utwuma tudahuza dukoreshwa mu kumenya aho ibintu biherereye. Utwuma dupima aho ibintu biherereye akenshi tuba turi mu byuma bitarangwamo ibyuma cyangwa aluminiyumu, bigatuma utwo twuma dukoreshwa ahantu handuye cyangwa hatose.
Iyo icyuma gito kandi gihagaze neza gishyizwe mu ngufu za rukuruzi, umuyoboro uwo ari wo wose utemba ukunda kwibumbira ku ruhande rumwe rw'icyuma, bigatera itandukaniro rishobora kubaho ryitwa voltage ya Hall. Niba umuyoboro uri mu cyuma gikurura uhoraho, ingano y'amashanyarazi ya Hall izagaragaza imbaraga z'imbaraga za rukuruzi. Muri sensor ya Hall-effect position, ikintu gihuzwa na magnet iri mu gice cy'icyuma gikurura. Uko ikintu kigenda, aho magnet iherereye harahinduka ugereranije n'igice cya Hall, bigatuma voltage ya Hall ihinduka. Mu gupima voltage ya Hall, ahantu ikintu giherereye hashobora kumenyekana. Hariho sensors zihariye za Hall-effect position zishobora kumenya aho ziherereye mu bipimo bitatu (Ishusho ya 4). Sensors za Hall-effect position ni ibikoresho bidahuza bitanga ubwizerwe bwinshi kandi byihuse, kandi bikora ku rugero runini rw'ubushyuhe. Bikoreshwa mu buryo butandukanye bw'abaguzi, inganda, imodoka n'ubuvuzi.
Hari ubwoko bubiri bw'ibanze bwa sensor za fiber optique. Mu sensor za fiber optique zisanzwe, fiber ikoreshwa nk'ikintu cyo kumva. Mu sensor za fiber optique zo hanze, fiber optique ihuzwa n'ubundi buryo bwo kumva kugira ngo yohereze ikimenyetso ku bikoresho bya elegitoroniki biri kure kugira ngo bitunganywe. Mu gihe cyo gupima aho fibre iherereye, igikoresho nka optique time domain reflectometer gishobora gukoreshwa kugira ngo hamenyekane igihe cyatinze. Impinduka y'uburebure bw'umurambararo ishobora kubarwa hakoreshejwe igikoresho gishyira mu bikorwa reflectometer ya optique domain. Fiber optique sensors ntizishobora kwangizwa na electromagnetic interferences, zishobora gukorwa ku bushyuhe bwinshi, kandi ntizikoresha amashanyarazi, bityo zishobora gukoreshwa hafi y'umuvuduko mwinshi cyangwa ibikoresho bishobora gushya.
Ubundi buryo bwo gupima fibre-optic bushingiye ku ikoranabuhanga rya fibre Bragg grating (FBG) bushobora no gukoreshwa mu gupima aho ibintu biri. FBG ikora nk'akayunguruzo k'urumuri, kagaragaza igice gito cy'urumuri ruri hagati y'uburebure bwa Bragg (λB) iyo rumuritswe n'urumuri rwagutse. Rukorwa hakoreshejwe imiterere mito yashyizwe mu gice cy'imbere cya fibre. FBG zishobora gukoreshwa mu gupima ibipimo bitandukanye nko ubushyuhe, imbaraga, umuvuduko, kunyeganyega, kwimuka, kwihuta n'umutwaro.
Hari ubwoko bubiri bw'ibikoresho by'igenzura, bizwi kandi nka optique encoders. Mu rubanza rumwe, urumuri rwoherezwa ku cyuma gifata amashusho kiri ku rundi ruhande rwa optique. Mu bwoko bwa kabiri, ikimenyetso cy'urumuri gisohoka kigaragara n'ikintu gikurikiranwa kigasubizwa aho urumuri ruturuka. Bitewe n'imiterere ya optique, impinduka mu miterere y'urumuri, nko ku bunini bw'uburebure, imbaraga, icyiciro cyangwa polarization, zikoreshwa mu kugena aho ikintu giherereye. Ibikoresho by'igenzura bishingiye kuri optique biboneka ku ngendo zigororotse n'izizunguruka. Ibi bikoresho biri mu byiciro bitatu by'ingenzi; optique encoders zituma urumuri rugera ku rundi ruhande, optique encoders zigaragaza urumuri, na optique encoders zigaragaza urumuri hagati y'urumuri.
Utumashini dupima aho ibintu biherereye dukoresha utumashini dupima aho ibintu biherereye kugira ngo dusohore imiraba ya ultrasonic ifite frequency yo hejuru. Utumashini dupima ijwi rigaragara. Utumashini dupima aho ibintu biherereye dushobora gukoreshwa nk'utumashini dupima aho ibintu biherereye, cyangwa imiterere igoye cyane ishobora gutanga amakuru atandukanye. Utumashini dupima aho ibintu biherereye dukoresha ibintu bireba ibintu bitandukanye n'imiterere y'ubuso, kandi dushobora kubona ibintu bito biri kure cyane kurusha ubundi bwoko bwinshi bw'utumashini dupima aho ibintu biherereye. Ntiturwanya guhindagura, urusaku rwo mu kirere, imirasire ya infrared n'ihungabana rya electromagnetic. Ingero z'ikoreshwa ry'utumashini dupima aho ibintu biherereye zirimo kumenya aho ibintu biherereye, kubara ibintu mu buryo bwihuse, sisitemu yo kugenzura ibintu ya roboti, no kumenya imodoka. Utumashini dupima aho ibintu biherereye dusanzwe tugizwe n'ibumba rya pulasitiki, utwuma dupima aho ibintu biherereye dufite membrane y'inyongera, n'ikibaho cyacapwe gifite imiyoboro y'ikoranabuhanga na microcontrollers zo kohereza, kwakira no gutunganya ibimenyetso (Ishusho ya 5).
Utumashini dupima aho ibintu biri dushobora gupima uburyo ibintu bigenda neza cyangwa neza, mu buryo buziguye cyangwa bungana. Utumashini dupima aho ibintu biri dushobora gupima uburyo ibikoresho nk'ibikoresho bikoresha moteri cyangwa moteri bigenda. Binakoreshwa mu bikoresho bigendanwa nka robots n'imodoka. Hari ikoranabuhanga ritandukanye rikoreshwa mu tumashini dupima aho ibintu biri hamwe n'uburyo butandukanye bwo kuramba, ikiguzi, ubuziranenge, ubushobozi bwo gusubiramo ibintu, n'ibindi.
Sensoreri za 3D Magnetic Position, Allegro MicrosystemsGusesengura no kongera umutekano wa Ultrasonic Sensorer ku binyabiziga byigenga, IEEE Internet of Things Journal Uburyo bwo guhitamo sensor y'aho uherereye, Cambridge Integrated Circuits Ubwoko bwa sensor y'aho uherereye, Ixthus InstrumentationSensore y'aho uhagaze ni iki?, Keyence Ni iki Magnetostrictive Position Sensing?, AMETEK
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