Ezinhlelweni zesimanje zokugcina impahla kanye nezokukhiqiza, imisebenzi yokuphatha impahla kanye nemikhiqizo ishintshile kusukela ekuthembeleni okuvamile emsebenzini wezandla noma imishini elula kuya kumodeli esebenza kahle kakhulu egxile ezixazululweni zokuphatha izinto ezizenzakalelayo. Lezi zixazululo zisekelwe ezimisweni ezihlelekile, ukuqonda okuhlanganisiwe,{1}}ukwenziwa kwezinqumo, nokwenza ukuze kuzuzwe ukugeleza okuzenzakalelayo, okunembayo, nokusebenza kahle kwezimpahla phakathi kwama-node ahlukene, kube ukusekela okubalulekile kokusebenza okuhlakaniphile nokukhiqiza okuhlakaniphile.
Izimiso eziyisisekelo zezixazululo zokuphatha izinto ezizenzakalelayo zingafingqwa -njengokwakhiwa kweluphu "lokubona kolwazi{1}}lokuhlelwa kwendlela{2}}lokulawula ukunyakaza{3}}ukusebenzisa ngokubambisana." Isendlalelo sombono wolwazi siqukethe izinzwa ezihlukahlukene, amadivayisi okuhlonza, nezinhlelo zokubeka indawo, okuhlanganisa i-LiDAR, amakhamera okubona, izifaki khodi, izifundi ze-RFID, namayunithi okulinganisa angasebenzi. Lokhu kuqoqa{6}}ulwazi lwesikhathi sangempela mayelana nokuma kwemvelo, ukuma kwezimpahla, isimo sengqondo sempahla, nezithiyo, ukuhlinzeka ngemithombo yedatha ethembekile ukuze kuthathwe izinqumo ezilandelayo-nokuqinisekisa ukuqaphela okuphelele kwesimo se-quo ezimweni ezishintshayo.
Ngokusekelwe kudatha ecatshangwayo, ukuhlela indlela kanye nokuhlela ama-algorithms kuyaqala ukusebenza. Isistimu yesofthiwe ikhiqiza ama-trajectories okunyakaza angenzeka futhi asebenza kahle asekelwe emaphuzwini okuhlosiwe kanye nemikhawulo yemisebenzi yokusingatha (njengokugwema izithiyo, imikhawulo yesivinini, kanye nokusetshenziswa kahle kwamandla), kusetshenziswa ukusesha kwegrafu, i-algorithm ye-A*, i-algorithm ye-Dijkstra, noma{1}}izindlela zokuhlela ezisekelwe ku-stochastic ezisekelwe kusampula. Kuzimo-eziningi zokusebenzisana kwamadivayisi, imojuli yokushejula emaphakathi ihlanganisa{4}}izikhundla zesikhathi sangempela kanye nolayini bemisebenzi yeyunithi ngayinye yokusingatha ukuze kuthuthukiswe umhlaba wonke nokwabiwa, kugwenywe ukuminyana nokungqubuzana, nokukhulisa konke okuphumayo.
Isendlalelo sokulawula ukunyakaza sinesibopho sokuhumusha imiphumela yokuhlela ibe imiyalo ethile yokwenza. Ngokusekelwe kumamodeli e-kinematic kanye nezingqinamba eziguqukayo, isilawuli sikhipha imiyalo enembile yesivinini kanye ne-torque kumayunithi okushayela (njengamamotho, amasondo esiteringi, nezinhlelo ze-servo), siqinisekisa ukuthi okokusebenza kokuphatha kusebenza ngokuzinzile ku-trajectory enqunywe kusengaphambili. Ezimotweni ezifana ne-Automated Guided Vehicles (AGVs) kanye ne-Autonomous Mobile Robots (AMRs), ukulawulwa kwempendulo kanye nokulungiswa kwe-loop evaliwe kuvame ukuhlanganiswa ukuze kulungiswe ukuchezuka okubangelwa izinguquko ezingalingani zomhlabathi noma zomthwalo ngesikhathi sangempela, okuqinisekisa ukunemba kokuma nokuphepha kokusebenza.
Isendlalelo sokusebenzisa esihlanganyelwe sibonisa ukuhlanganiswa kwesistimu. Impahla yokuphatha impahla ixhumeka ne-Warehouse Management Systems (WMS), Manufacturing Execution Systems (MES), kanye nezinye izinhlelo zokulawula ulayini wokukhiqiza, ithola imiyalelo yomsebenzi futhi inikeze impendulo ngesimo sokwenziwa ukuze kuzuzwe ukuhlanganiswa okungenamthungo phakathi kokugcinwa kwempahla, ukuhlunga, nokukhiqiza. Ngephrothokholi yezokuxhumana ebumbene nesixhumi esibonakalayo sedatha, amayunithi okuphatha amabhrendi ahlukene nezinhlobo angasebenzisana endaweni efanayo, akhe inethiwekhi yezinto eziguquguqukayo nesikakayo.
Izimiso zokuphepha zisetshenziswa kuyo yonke inqubo. Uhlelo luhlanganisa-izindlela zokuvikela zamaleveli amaningi, okuhlanganisa izindawo ezikhawulelwe ezibonakalayo kanye nemikhawulo yesivinini ezingeni lesofthiwe, ukutholwa kokushayisana kanye namadivayisi okumisa isimo esiphuthumayo ezingeni lezingxenyekazi zekhompuyutha, kanye namasu okunciphisa noma okugwema abasebenzi abasondelayo, ngalokho kuqinisekisa ukuphepha kwabantu nezisetshenziswa ngenkathi kuthuthukiswa ukusebenza kahle.
Kafushane, izixazululo zokuphatha izinto ezizenzakalelayo zisekelwe ekuhlanganisweni kwemvelo kokubona,{0}}ukwenza izinqumo, ukulawula, nokusebenzisana. Ngokusebenzisa idatha-ama-algorithms ahlakaniphile ashayelwa idatha kanye{3}}nama-activator anembayo aphezulu, afinyelela ukugeleza kwezinto eziphephile, eziphumelelayo, nezivumelana nezimo ezindaweni eziyinkimbinkimbi, okuhlinzeka ngesisekelo esiqinile sokusebenza samaketango okunikezelayo kanye nezinhlelo zokukhiqiza.
