M'zaka zaposachedwa, gawo la robotics lapita patsogolo kwambiri pakupanga makina anzeru omwe amatha kugwira ntchito zovuta monga kugwira, kusintha, ndi kuzindikira zinthu m'malo osiyanasiyana. Gawo limodzi la kafukufuku lomwe lapeza chidwi kwambiri ndi makina a 3D owoneka bwino osagwira ntchito. Makinawa amafuna kuphunzira momwe angatengere zinthu zamitundu yosiyanasiyana, makulidwe, ndi mawonekedwe osiyanasiyana m'malo osakhazikika. M'nkhaniyi, tiwona mfundo zazikuluzikulu zopangira makina ogwirira bwino a 3D osakhazikika.
1. Zowunikira zakuya
Choyambirira komanso chofunikira kwambiri chosinthira a3D Visual Grasping Systemndi masensa akuya. Masensa akuzama ndi zida zomwe zimajambula mtunda pakati pa sensa ndi chinthu chomwe chikuwoneka, kupereka chidziwitso cholondola komanso chatsatanetsatane cha malo. Pali mitundu yosiyanasiyana ya masensa akuya omwe amapezeka pamsika, kuphatikiza LIDAR, ndi makamera a stereo.
LIDAR ndi sensor ina yotchuka yakuya yomwe imagwiritsa ntchito ukadaulo wa laser kuyeza mtunda. Imatumiza kugunda kwa laser ndikuyesa nthawi yomwe imatengera kuti laser ibwerere kuchokera ku chinthu chomwe chikumva. LIDAR imatha kupereka zithunzi zowoneka bwino za 3D za chinthucho, ndikupangitsa kuti ikhale yabwino kwa mapulogalamu monga mapu, kuyenda, ndi kugwira.
Makamera a stereo ndi mtundu wina wa masensa akuya omwe amajambula zidziwitso za 3D pogwiritsa ntchito makamera awiri omwe ali pafupi ndi mnzake. Poyerekeza zithunzi zomwe zimajambulidwa ndi kamera iliyonse, makinawo amatha kuwerengera mtunda pakati pa makamera ndi chinthu chomwe chikumveka. Makamera a stereo ndi opepuka, otsika mtengo, komanso osavuta kugwiritsa ntchito, zomwe zimapangitsa kukhala chisankho chodziwika bwino pamaroboti am'manja.
2. Ma algorithms ozindikira zinthu
Mfundo yachiwiri yofunika kwambiri yosinthira mawonekedwe a 3D ndi ma algorithms ozindikira zinthu. Ma aligorivimuwa amathandizira dongosolo kuzindikira ndikuyika zinthu zosiyanasiyana malinga ndi mawonekedwe, kukula kwake, ndi kapangidwe kake. Pali ma aligorivimu angapo ozindikira zinthu omwe alipo, kuphatikiza kukonza kwamtambo, kufananiza pamwamba, kufananiza mawonekedwe, ndi kuphunzira mozama.
Point Cloud processing ndi njira yodziwika bwino yozindikiritsa zinthu yomwe imasintha deta ya 3D yotengedwa ndi sensor yakuzama kukhala mtambo wa mfundo. Dongosololo limasanthula mtambo wamalo kuti azindikire mawonekedwe ndi kukula kwa chinthu chomwe chikumva. Kufananiza pamwamba ndi njira ina yomwe imafanizira mtundu wa 3D wa chinthu chomwe chikuwoneka ndi laibulale yazinthu zomwe zidadziwika kale kuti zizindikiritse chinthucho.
Kufananiza ndi njira ina yomwe imazindikiritsa mbali zazikulu za chinthu chomwe chikuwoneka, monga ngodya, m'mphepete, ndi ma curve, ndikuzifananitsa ndi nkhokwe ya zinthu zomwe zidadziwika kale. Pomaliza, kuphunzira mozama ndikutukuka kwaposachedwa kwa ma algorithms ozindikira zinthu omwe amagwiritsa ntchito ma neural network kuphunzira ndikuzindikira zinthu. Ma algorithms ozama ophunzirira amatha kuzindikira zinthu molondola komanso mwachangu, zomwe zimapangitsa kuti zikhale zoyenera kugwiritsa ntchito nthawi yeniyeni monga kugwira.
3. Kugwira ma aligorivimu
Yachitatu yofunika kasinthidwe mfundo a3D Visual Grasping Systemndiye ma algorithms osavuta. Grasping algorithms ndi mapulogalamu omwe amathandiza loboti kunyamula ndikuwongolera chinthu chomwe chikuwoneka. Pali mitundu ingapo ya ma algorithms omveka omwe alipo, kuphatikiza ma aligorivimu okonzekera, ma algorithms a grasp generation, ndi ma algorithms ogawa mphamvu.
Grasp plan algorithms imapanga mndandanda wazomwe zimamveka pa chinthu chomwe chimamveka kutengera mawonekedwe ndi kukula kwake. Dongosololo limayesa kukhazikika kwa kugwira kulikonse ndikusankha yokhazikika kwambiri. Ma algorithms a Grasp generation amagwiritsa ntchito njira zophunzirira mozama kuti aphunzire kugwira zinthu zosiyanasiyana ndikupanga zogwira popanda kufunikira kokonzekera bwino.
Kukakamiza kugawa ma algorithms ndi mtundu wina wa algorithm yogwira yomwe imaganizira kulemera kwa chinthu ndi kugawa kwake kuti mudziwe mphamvu yoyenera yogwira. Ma algorithms awa amatha kuwonetsetsa kuti loboti imatha kutola zinthu zolemera komanso zazikulu popanda kuzigwetsa.
4. Zomangira
Chomaliza chofunikira chosinthira makina owonera a 3D ndi gripper. Chogwira ndi dzanja la robotiki lomwe limanyamula ndikuwongolera chinthu chomwe chikuwoneka. Pali mitundu ingapo ya ma grippers omwe alipo, kuphatikiza ma parallel jaw grippers, zogwira zala zitatu, ndi zoyamwa.
Zogwira nsagwada zofanana zimakhala ndi nsagwada ziwiri zoyenderana zomwe zimayenderana kuti zigwire chinthucho. Ndizosavuta komanso zodalirika, zomwe zimawapangitsa kukhala chisankho chodziwika bwino pamapulogalamu monga kusankha ndi malo. Zogwira zala zitatu zimatha kugwira zinthu zamitundumitundu komanso kukula kwake. Amathanso kutembenuza ndikusintha chinthucho, kupangitsa kuti zikhale zoyenera kusonkhanitsa ndi kuwongolera.
Ma Suction grippers amagwiritsa ntchito makapu akuyamwa vacuum kuti agwirizane ndi chinthu chomwe chikumva ndikuchinyamula. Ndiabwino kugwira ntchito ndi zinthu zosalala ngati galasi, pulasitiki, ndi zitsulo.
Pomaliza, kupanga a3D mawonedwe osalongosoka akugwira dongosoloimafunika kuganiziridwa mozama za mfundo zazikuluzikulu za kasinthidwe kachitidwe. Izi zikuphatikiza masensa akuya, ma algorithms ozindikira zinthu, ma algorithms ogwira, ndi ma grippers. Posankha zigawo zoyenera kwambiri pazigawo zonse za kasinthidwe, ofufuza ndi mainjiniya amatha kupanga njira zogwirira bwino komanso zogwira mtima zomwe zimatha kuthana ndi zinthu zambiri m'malo osakhazikika. Kupanga makinawa kuli ndi kuthekera kwakukulu kopititsa patsogolo magwiridwe antchito ndi zokolola zamafakitale osiyanasiyana, monga kupanga, kukonza zinthu, ndi chisamaliro chaumoyo.
Nthawi yotumiza: Sep-18-2024
