Nyob rau hauv xyoo tas los no, kev ua haujlwm ntawm cov neeg hlau tau ua qhov kev vam meej hauv kev tsim cov tshuab ntse uas muaj peev xwm ua tau cov haujlwm nyuaj xws li kev tuav, kev tswj xyuas, thiab kev paub txog cov khoom hauv ntau qhov chaw. Ib cheeb tsam ntawm kev tshawb fawb uas tau txais kev mloog ntau yog 3D pom kev tsis pom kev tsis pom kev. Cov tshuab no tsom mus kawm yuav ua li cas khaws cov khoom sib txawv, qhov ntau thiab tsawg, thiab textures nyob rau hauv ib qho chaw tsis muaj kev tsim. Hauv tsab xov xwm no, peb yuav tshawb nrhiav cov ntsiab lus tseem ceeb rau kev tsim kom muaj txiaj ntsig 3D pom qhov tsis pom kev tsis txaus ntseeg.
1. Qhov tob sensors
Thawj thiab tseem ceeb tshaj plaws configuration point rau a3D visual grasping systemyog qhov tob sensors. Qhov tob sensors yog cov khoom siv uas ntes qhov kev ncua deb ntawm lub sensor thiab cov khoom raug hnov, muab cov ntaub ntawv raug thiab cov ncauj lus kom ntxaws. Muaj ntau hom kev ntsuas qhov tob muaj nyob hauv khw, suav nrog LIDAR, thiab lub koob yees duab tso suab.
LIDAR yog lwm qhov nrov qhov tob sensor uas siv tshuab laser los ntsuas qhov deb. Nws xa tawm laser pulses thiab ntsuas lub sij hawm nws yuav siv sij hawm rau lub laser thaws rov qab los ntawm cov khoom raug hnov. LIDAR tuaj yeem muab cov duab 3D daws teeb meem siab ntawm cov khoom, ua rau nws zoo tagnrho rau kev siv xws li daim ntawv qhia, kev taw qhia, thiab kev tuav.
Lub koob yees duab stereo yog lwm hom qhov tob sensor uas ntes 3D cov ntaub ntawv siv ob lub koob yees duab tso rau ib sab. Los ntawm kev sib piv cov duab uas tau ntes los ntawm txhua lub koob yees duab, lub kaw lus tuaj yeem suav qhov kev ncua deb ntawm lub koob yees duab thiab cov khoom tau hnov. Lub koob yees duab stereo yog lub teeb yuag, pheej yig, thiab siv tau yooj yim, ua rau lawv muaj kev xaiv nrov rau mobile robots.
2. Object recognition algorithms
Qhov thib ob tseem ceeb configuration point rau ib tug 3D pom grasping system yog cov khoom recognition algorithms. Cov algorithms no pab kom lub kaw lus txheeb xyuas thiab faib cov khoom sib txawv raws li lawv cov duab, qhov loj me, thiab kev ntxhib los mos. Muaj ntau ntau yam kev paub txog cov khoom muaj, suav nrog kev ua haujlwm ntawm huab cua, kev sib txuam saum npoo, kev sib txuam, thiab kev kawm tob.
Point cloud processing yog ib qho khoom nrov paub txog algorithm uas hloov cov ntaub ntawv 3D ntes los ntawm qhov tob sensor rau hauv qhov taw tes huab. Lub kaw lus tom qab ntawd txheeb xyuas cov ntsiab lus huab kom paub qhov zoo thiab qhov loj ntawm cov khoom raug hnov. Qhov sib txuam ntawm qhov chaw yog lwm qhov algorithm uas sib piv cov qauv 3D ntawm cov khoom raug nkag mus rau lub tsev qiv ntawv ntawm cov khoom paub yav dhau los txhawm rau txheeb xyuas qhov khoom tus kheej.
Feature matching yog lwm algorithm uas txheeb xyuas cov yam ntxwv tseem ceeb ntawm cov khoom tau hnov, xws li cov ces kaum, ntug, thiab nkhaus, thiab phim lawv rau ib tug database ntawm yav tas los paub cov khoom. Thaum kawg, kev kawm tob yog kev txhim kho tsis ntev los no hauv kev paub txog cov khoom siv algorithms uas siv cov neural networks los kawm thiab paub txog cov khoom. Kev kawm tob algorithms tuaj yeem paub txog cov khoom uas muaj qhov tseeb thiab nrawm, ua rau lawv zoo tagnrho rau cov ntawv thov hauv lub sijhawm xws li kev tuav.
3. Ntxig algorithms
Qhov thib peb tseem ceeb configuration point rau a3D visual grasping systemyog lub grasping algorithms. Grasping algorithms yog cov kev pab cuam uas tso cai rau tus neeg hlau tuaj tos thiab tswj cov khoom tau hnov. Muaj ntau ntau hom kev tuav cov algorithms muaj, suav nrog kev tuav tswv yim algorithms, tuav tiam algorithms, thiab quab yuam faib algorithms.
Grasp Planning algorithms tsim ib daim ntawv teev cov neeg sib tw tuav rau cov khoom raug pom raws li nws cov duab thiab qhov loj me. Tom qab ntawd lub kaw lus ntsuas txhua qhov tuav qhov ruaj khov thiab xaiv qhov ruaj khov tshaj plaws. Grasp tiam algorithms siv cov tswv yim sib sib zog nqus los kawm paub tuav cov khoom sib txawv thiab tsim cov grasps yam tsis xav tau kev npaj qhia meej.
Force distribution algorithms yog lwm hom kev tuav cov algorithm uas yuav siv sij hawm rau hauv tus account qhov khoom qhov hnyav thiab kev faib tawm los txiav txim siab qhov pom kev quab yuam. Cov algorithms no tuaj yeem ua kom ntseeg tau tias tus neeg hlau tuaj yeem nqa cov khoom hnyav thiab hnyav yam tsis tau tso tseg.
4. Grippers
Lub ntsiab lus tseem ceeb ntawm kev teeb tsa zaum kawg rau 3D pom qhov muag pom kev yog qhov gripper. Lub gripper yog tus neeg hlau tes uas khaws thiab tswj cov khoom tau hnov. Muaj ntau ntau hom grippers muaj, suav nrog lub puab tsaig sib luag grippers, peb ntiv tes grippers, thiab suction grippers.
Parallel lub puab tsaig grippers muaj ob lub puab tsaig sib luag uas txav mus rau ib leeg los tuav cov khoom. Lawv yog cov yooj yim thiab txhim khu kev qha, ua rau lawv muaj kev xaiv nrov rau kev siv xws li xaiv thiab tso chaw ua haujlwm. Peb-ntiv tes grippers muaj ntau yam ntau thiab tuaj yeem tuav cov khoom sib txawv thiab ntau thiab tsawg. Lawv kuj tuaj yeem tig thiab tswj cov khoom, ua rau lawv zoo tagnrho rau kev sib dhos thiab kev ua haujlwm.
Suction grippers siv lub tshuab nqus tsev nqus cov khob los txuas rau cov khoom uas tau hnov thiab khaws nws. Lawv yog qhov zoo tagnrho rau kev tuav cov khoom nrog cov npoo du xws li iav, yas, thiab hlau.
Hauv kev xaus, txhim kho a3D pom qhov tsis muaj kev tswj hwm qhov systemyuav tsum tau ua tib zoo xav txog lub system cov ntsiab lus tseem ceeb configuration. Cov no suav nrog qhov tob sensors, khoom paub txog algorithms, tuav algorithms, thiab grippers. Los ntawm kev xaiv cov khoom tsim nyog tshaj plaws rau txhua qhov kev teeb tsa no, cov kws tshawb fawb thiab cov kws tshaj lij tuaj yeem txhim kho cov cuab yeej siv tau zoo thiab muaj txiaj ntsig zoo uas tuaj yeem tswj tau ntau yam khoom hauv qhov chaw tsis muaj teeb meem. Txoj kev loj hlob ntawm cov tshuab no muaj peev xwm ua tau zoo los txhim kho kev ua tau zoo thiab kev tsim khoom ntawm ntau yam kev lag luam, xws li kev tsim khoom, kev xa khoom, thiab kev kho mob.
Post lub sij hawm: Sep-18-2024
