A cikin 'yan shekarun nan, fannin na'ura mai ba da hanya tsakanin hanyoyin sadarwa ya samu ci gaba sosai wajen samar da injuna masu hankali wadanda za su iya yin ayyuka masu sarkakiya kamar su kamawa, sarrafa su, da kuma gane abubuwa a wurare daban-daban. Wani yanki na bincike wanda ya sami kulawa sosai shine tsarin 3D na gani mara tsari. Waɗannan tsarin suna nufin koyan yadda ake ɗaukar abubuwa masu nau'i daban-daban, masu girma dabam, da laushi a cikin yanayi mara tsari. A cikin wannan labarin, za mu bincika mahimman wuraren daidaitawa don haɓaka ingantaccen tsarin 3D na gani mara tsari.
1. Na'urori masu auna zurfafa
Matsayi na farko kuma mafi mahimmanci don daidaitawaTsarin 3D na gani na ganishine zurfin na'urori masu auna sigina. Na'urori masu zurfi sune na'urori waɗanda ke ɗaukar tazara tsakanin firikwensin da abin da ake hange, suna ba da cikakkun bayanai dalla-dalla. Akwai nau'ikan na'urori masu zurfi daban-daban da ake samu a kasuwa, gami da LIDAR, da kyamarori na sitiriyo.
LIDAR wani sanannen firikwensin zurfin firikwensin da ke amfani da fasahar Laser don auna nisa. Yana fitar da bugun jini na Laser kuma yana auna lokacin da Laser ke ɗauka don dawowa daga abin da ake hange. LIDAR na iya samar da manyan hotuna na 3D na abu, yana mai da shi manufa don aikace-aikace kamar taswira, kewayawa, da kuma ɗauka.
Kyamarar sitiriyo wani nau'in firikwensin zurfin firikwensin da ke ɗaukar bayanan 3D ta amfani da kyamarori biyu da aka sanya kusa da juna. Ta hanyar kwatanta hotunan da kowace kamara ta ɗauka, tsarin zai iya ƙididdige nisa tsakanin kyamarori da abin da ake hangowa. Kyamarorin sitiriyo marasa nauyi ne, masu araha, kuma masu sauƙin amfani, suna sa su zama sanannen zaɓi na mutum-mutumi na hannu.
Mahimman wurin daidaitawa na biyu don tsarin fahimtar gani na 3D shine algorithms gane abu. Wadannan algorithms suna ba da damar tsarin don ganowa da rarraba abubuwa daban-daban dangane da siffar su, girman su, da kuma nau'in su. Akwai algorithms gano abubuwa da yawa da ke akwai, gami da sarrafa gajimare na aya, daidaitawa sama, daidaita fasalin, da zurfin koyo.
Sarrafa gajimare sanannen sanannen abu ne algorithm wanda ke canza bayanan 3D da zurfin firikwensin ya kama zuwa gajimare mai ma'ana. Sai tsarin ya yi nazarin gajimaren batu don gano siffa da girman abin da ake ji. Matching surface wani algorithm ne wanda ke kwatanta ƙirar 3D na abin da ake hangowa zuwa ɗakin karatu na abubuwan da aka sani a baya don gano ainihin abin.
Daidaita fasali wani algorithm ne wanda ke gano mahimman fasalulluka na abin da ake gane su, kamar kusurwoyi, gefuna, da lanƙwasa, da daidaita su zuwa bayanan bayanan abubuwan da aka sani a baya. A ƙarshe, zurfafa ilmantarwa ci gaba ne na kwanan nan a cikin algorithms gano abu wanda ke amfani da hanyoyin sadarwar jijiya don koyo da gane abubuwa. Algorithms na ilmantarwa mai zurfi na iya gane abubuwa tare da daidaito mai tsayi da sauri, yana mai da su manufa don aikace-aikacen lokaci-lokaci kamar fahimta.
3. Yin amfani da algorithms
Mahimmiyar mahimmanci ta uku don aTsarin 3D na gani na ganishine algorithms masu fahimta. Algorithms na kama-da-wane shirye-shirye ne da ke ba robot damar ɗauka da sarrafa abin da ake hange. Akwai nau'ikan algorithms na riko da yawa da ke akwai, gami da tsarin tsara algorithms, fahimtar tsara algorithms, da tilasta rarraba algorithms.
Algorithms na tsare-tsare suna haifar da jerin ƙwaƙƙwaran ɗan takara don abin da ake hankalta dangane da siffarsa da girmansa. Sa'an nan tsarin yana kimanta daidaiton kowane fahimtar kuma ya zaɓi mafi kwanciyar hankali. Algorithms tsara tsara suna amfani da dabarun ilmantarwa mai zurfi don koyan yadda ake fahimtar abubuwa daban-daban da kuma samar da hannaye ba tare da buƙatar tsarawa ba.
Algorithms na rarraba ƙarfi wani nau'in algorithm ɗin riko ne wanda ke yin la'akari da nauyin abu da rarraba don tantance mafi kyawun ƙarfin kamawa. Waɗannan algorithms na iya tabbatar da cewa mutum-mutumi na iya ɗaukar abubuwa masu nauyi da girma ba tare da faduwa ba.
4. Masu girki
Mahimmin mahimmancin daidaitawa na ƙarshe don tsarin fahimtar gani na 3D shine gripper. Mai riko shine hannun mutum-mutumin da ke ɗauka da sarrafa abin da ake hange. Akwai nau'ikan grippers da yawa da ake samu, gami da masu riƙe muƙamuƙi masu kama da juna, gripper masu yatsa uku, da tsotsa grippers.
Daidaitacce grippers sun ƙunshi muƙamuƙi guda biyu masu kama da juna waɗanda ke motsawa zuwa juna don ɗaukar abu. Suna da sauƙi kuma abin dogara, yana sa su zama sanannen zaɓi don aikace-aikacen aikace-aikace kamar ɗaukar aiki da wuri. Masu riƙe yatsa uku sun fi dacewa kuma suna iya ɗaukar abubuwa masu siffofi da girma dabam dabam. Hakanan za su iya jujjuya su da sarrafa abu, suna sa su dace don haɗawa da ayyukan magudi.
Masu tsotsa suna amfani da kofuna na tsotsa don haɗawa da abin da ake ji kuma su ɗauka. Sun dace don sarrafa abubuwa masu santsi kamar gilashi, filastik, da ƙarfe.
A ƙarshe, haɓaka a3D na gani mara tsari tsarin kamawayana buƙatar yin la'akari da kyau game da mahimman wuraren daidaitawar tsarin. Waɗannan sun haɗa da na'urori masu zurfi, algorithms gano abu, algorithm ɗin fahimtar, da grippers. Ta hanyar zabar abubuwan da suka fi dacewa ga kowane ɗayan waɗannan wuraren daidaitawa, masu bincike da injiniyoyi za su iya haɓaka ingantaccen tsarin kamawa da inganci waɗanda za su iya ɗaukar abubuwa da yawa a cikin wuraren da ba a tsara su ba. Haɓaka waɗannan tsare-tsaren yana da babban ƙarfin haɓaka inganci da haɓaka masana'antu daban-daban, kamar masana'antu, dabaru, da kiwon lafiya.
Lokacin aikawa: Satumba-18-2024
