我们成功地完成了第一个项目，集成了整机的控制和诊断，现在我们将转移到项目中的一台新的不同机器，您将在本课程中找到它，或者您会发现一台新的 Michiana我现在将向您描述。
We successfully managed to finish the first project, integrating both the control and the diagnosis for a complete machine, and right now we will move to a new different machine in the project that you will find attached to this lesson or you will find a new Michiana that I will now describe to you.

在项目中，您将一如既往地找到执行器、按钮和传感器的全局变量列表。
And in the project, you will find, as always, the global variables list for actuators, buttons and sensors.

您将找到需要自己编写的主程序，即管理整个过程的模拟。
You'll find the main program that you need to write yourself, the simulation that manages the the complete process.

您还将找到我们在之前的课程中开发的项目部分，我们可以直接在该项目中使用它们。
And you will also find the parts of the project that we developed during the previous lessons that we can directly use on this project.

在这里的通用设备中，您将找到有关通用设备、我们开发的信号管理的所有内容。
In the generic device here, you will find everything concerning the generic device, the signal management that we developed.

在模型程序中，我们维护 Numerati 中的车站状态，这可能会出现。
And here in the model program, we maintain that the station state in Numerati, that may come in the.

那么这台机器是做什么的呢，这台机器是关于瓶子感觉和封盖的机器，它可以工作。
So what is this machine about, this machine is about a bottle feeling and capping a machine and it works.

这样，在这一行的开头，我的瓶子就会出现。
And this way here at the beginning of this line, my bottles will appear.

在这里，我们仍然有产品可以让瓶子出现在这条生产线上。
And here we still have the product to enable to to allow the appearance of bottles on this line.

并且瓶子需要在该封盖站中被灌装并启动该灌装站并且需要被保存在该封盖站中。
And bottles need to be filled in this capping station and starting this filling station and needs to be kept here in this capping station.

我们这里有一个传送带可以移动瓶子，我们有不同的传感器可以告诉我们站下方是否有瓶子。
We have a conveyor here that will move the bottles and we have different sensors that can tell us if there is a bottle beneath the station.

我们这里有不同的执行器。
We have different actuators here.

我将在这里打开执行器列表，以便我们可以看到它们。
I will open over here the list of actuators so we can see them.

这就是这里所关心的，传送带，而这里我们有一个笛卡尔机器人，它将沿着 X 和 Z 轴移动，用于拾取瓶子并将它们放入这个容器中。
And this is what concerns here, the conveyor while here we have a Cartesian robot that will move along an X and Z axis that will be used to pick up the bottles and place them into this container.

因此，我可以更轻松地向您展示机器应该如何移动和控制。
So it is easier for me to show you how the machine should move and should be controlled.

所以我将切换到我已经编写的程序。
So I will switch to a program that I have already written.

所以你会在这里看到它应该如何工作。
So you will see how it should work here.

这就是机器的意义所在。
This is what the machine is about.

瓶子将出现在传送带的起始处。
Bottles will appear at the beginning of the conveyor.

将在该站内充满并封顶。
Will be filled within that station and will be capped.

您需要这个来管理易货交易可能会出现在随机时间和位置的事实，因此它们不会始终与站点同步，但仍然需要对其进行处理。
And you need this to manage the fact that barters may appear in at random times and positions, so they will not always be in sync with the station, but they need to be processed that nevertheless.

所以。
So.

至于这里的加油站有什么问题，我会开的。
For what concerns the filling station here, I will open the.

右侧的传感器和我们的板，下面的执行器，以便快速查看。
The sensors on the right and our plates, the actuators just below in order to have a quick look.

好吧，从传送带开始，我们将有一个热传送带执行器来移动瓶子，还有一个传送带移动传感器，作为传送带移动的反馈。
Well, starting from the conveyor, we will have a thermal conveyor actuator to move the bottles and a conveyor moving sensors that acts as a feedback for the conveyor moving.

正如我所说，我们这里有四个不同的传感器，一个、两个、三个和四个，它们会告诉我们那里是否有瓶子。
Then we have, as I said, four different sensors here, one, two, three and four that will tell us if there is a bottle there.

我们有四个问题，加油站灌装执行器将允许水最终进入瓶子，传感器将告诉我们水是否确实流入瓶子。
We have four concerns, the filling station filling actuator that will allow the water to end up in the bottles and sensors that will tell us if that the water is actually flowing into the bottle.

然后，为了考虑封盖，我们有一个执行器来向下移动这个封盖站，这就是所谓的向下移动封盖站，它的封盖站向下传感器会告诉我们是否有意愿。
Then for concerns the capping, we have an actuator to move this capping station down that is called that is here move capping station down and it capping station down sensor that will tell us if there is a will.

告诉我们站是否到达底部，底部位置，然后当决定在底部时，我们有一个封盖执行器将执行封盖操作。
Tell us if the station reached the bottom part, the bottom position, and then when the decision is at the bottom, we have a capping actuator that will perform the capping operation.

这就是传送带中的部分。
And this is it for the part here in the conveyor.

我们这里不是机器人，而是机器人按照以下方式工作。
We have over here, instead of robot, the robot works in the following way.

我们有四个传感器，两个用于 Z 轴，两个用于 X 轴。
We have four sensor, two for the Z axis and two for the X axis.

我们有传感器告诉我们机器人是向下、向上、向左还是向右。
We have sensors that tell us the robot is down, up, left or right.

我们有四个执行器，一个用于向上移动机器人，一个用于向下移动机器人，一个用于将机器人向右移动到我的左侧。
And we have four actuators, one to move the robot up, one to move it down, one to move it right along to my left.

然后我们还有执行器并注意到这里有一个障碍物。
And then we have also the actuator and noted that there is a barrier here.

因此瓶子不会移动超过这个障碍物，最终它们会堆积在障碍物上。
So bottles will not move further than this barrier and eventually they will pile up against the barrier.

为了拿起瓶子，您可以看到机器人需要向上移动。
In order to pick up the bottles, you can see that the robot needs to move up.

那么，对了，为了避开这个障碍物和关于Rosny，那么为了向后移动，机器人不需要移动回去。
Then, right, in order to avoid this barrier and about Rosny, then for in order to move back, the robot does not have to move to go back up.

所以，正如你所看到的，机器人拾取尸体的循环是向上、向右、向下、向左。
So the cycle, as you can see, is up, right, down, left for the robot to pick up had the bodies.

然后为了你真正需要知道的其他事情。
Then in order to the other things that you actually need to know.

啊，关于申请感觉和队长站需要的时间，所以要完全装满一瓶，你需要在这里一秒钟，在执行器打开的情况下需要一秒钟。
Ah, regarding the time that you need to to apply for the feeling and captain station, so in order to completely fill a bottle, you need one second here, one second with the actuator turned on.

为了给瓶子盖上盖子，你只需要第二个时间。
And in order to cap a bottle to place a cap on the bottle, you need just to have a second.

因此，这些是您需要了解的时间。
So these are the times that you need to know about.

因此，对于这台机器，我建议尝试为自己制定一个解决方案，使用我们在上一课中开发的工具，您将需要使用通用设备来管理执行器，并且需要将信号管理添加到管理故障。
So for this machine, I suggested to try and work out a solution for yourself, using the tools that we developed in the last lesson, you will need to use the generic devices to manage the actuators and you will need to add the signal management to manage faults.

我建议你在车站中进行额外的结构划分，就像我们在上一个项目中看到的那样。
I suggest you extra structure divided in station, in stations, as we saw in the last project here.

我的建议是机器的输送部分使用一个工位，机器人部分使用一个工位。
My suggestion is to use one station for the conveyer part of the machine and one station for the robot.

这只是我的建议。
This is but this is simply my suggestion.

在接下来的视频中，我将自己开发我的解决方案。
In the next videos I will develop my solution on my own.

这样您就可以自由地遵循它或坚持您的解决方案。
So you will be able you will be free to follow it or to stick to your solution.

但他们建议您自己尝试一下。
But they suggested to give it a try on your own.

这仍然是一个复杂的问题。
This is still a complex problem.

您会发现我们在这里遇到了一种新的挑战，因为您可能会发现您需要为传送带部分实现太多的嵌套有限状态机。
And you will see that we have a new kind of challenge here because you will probably will see that you will need to have too many to implement and nested finite state machine for the conveyer part.

但我们实际上会在第二天左右看到这一点，所以尝试一下。
But we will actually see this in the next day or so, so to try this and.

您将在接下来的视频中看到我的解决方案。
You will see me in the next videos for my solution.