Mu myaka yashize, urwego rwa robo rwateye imbere cyane mugutezimbere imashini zifite ubwenge zishobora gukora imirimo igoye nko gufata, gukoresha, no kumenyekanisha ibintu mubidukikije bitandukanye. Igice kimwe cyubushakashatsi cyitabiriwe cyane ni sisitemu yo gufata 3D idafite gahunda. Izi sisitemu zigamije kwiga uburyo bwo gutoragura ibintu byuburyo butandukanye, ubunini, hamwe nuburyo butandukanye mubidukikije. Muri iyi ngingo, tuzasesengura ingingo zingenzi zingenzi zo guteza imbere sisitemu yo gufata neza 3D igaragara neza.
1. Ibyuma byimbitse
Icya mbere kandi gikomeye cyane iboneza rya aSisitemu yo gufata amashusho ya 3Dni ubujyakuzimu. Ubujyakuzimu bwimbitse ni ibikoresho bifata intera iri hagati ya sensor nicyo kintu cyunvikana, gitanga amakuru yukuri kandi arambuye yumwanya. Hariho ubwoko butandukanye bwimbitse ziboneka kumasoko, harimo LIDAR, na kamera za stereo.
LIDAR nubundi buryo bwimbitse bwimbitse ikoresha tekinoroji ya laser yo gupima intera. Yohereje laser pulses kandi igapima igihe bifata kugirango laser isubire inyuma yikintu cyunvikana. LIDAR irashobora gutanga amashusho yikirenga ya 3D yikintu, bigatuma iba nziza mubisabwa nko gushushanya, kugendagenda, no gufata.
Kamera ya Stereo nubundi bwoko bwimbitse ya sensor ifata amakuru ya 3D ukoresheje kamera ebyiri zashyizwe kuruhande. Mugereranije amashusho yafashwe na buri kamera, sisitemu irashobora kubara intera iri hagati ya kamera nikintu cyunvikana. Kamera ya Stereo yoroheje, ihendutse, kandi yoroshye kuyikoresha, bigatuma ihitamo gukundwa na robo zigendanwa.
2. Kumenyekanisha ibintu algorithms
Igice cya kabiri gikomeye cyiboneza kuri sisitemu ya 3D igaragara yo gufata ni ikintu cyo kumenya algorithms. Iyi algorithms ituma sisitemu imenya kandi igashyira mubintu bitandukanye ukurikije imiterere, ingano, hamwe nimiterere. Hano haribintu byinshi byamenyekanye algorithms irahari, harimo ingingo yo gutunganya ibicu, guhuza ubuso, ibiranga guhuza, hamwe no kwiga byimbitse.
Gutunganya ibicu ni ikintu kizwi cyane cyo kumenyekanisha algorithm ihindura amakuru ya 3D yafashwe na sensor yimbitse mubicu. Sisitemu noneho isesengura ingingo yibicu kugirango imenye imiterere nubunini bwikintu cyunvikana. Guhuza ubuso nubundi algorithm igereranya moderi ya 3D yikintu cyunvikana mubitabo byibintu bizwi mbere kugirango umenye ikiranga ikintu.
Guhuza ibiranga nubundi algorithm igaragaza ibintu byingenzi biranga ikintu cyunvikana, nkinguni, impande, nu murongo, kandi ikabihuza nububiko bwibintu bizwi mbere. Hanyuma, kwiga byimbitse niterambere rya vuba mumenyekanisha ibintu algorithms ikoresha imiyoboro yimitsi kugirango yige kandi imenye ibintu. Kwiga byimbitse algorithms irashobora kumenya ibintu bifite ubunyangamugayo bwihuse kandi bwihuse, bigatuma biba byiza mugihe gikwiye nko gufata.
3. Gufata algorithms
Igice cya gatatu gikomeye cyiboneza kuri aSisitemu yo gufata amashusho ya 3Dni Gufata algorithms. Gufata algorithms ni porogaramu zifasha robot gufata no kuyobora ikintu cyunvikana. Hariho ubwoko bwinshi bwo gufata algorithms irahari, harimo gufata igenamigambi rya algorithm, gufata ibisekuru bya algorithm, hamwe no gukwirakwiza imbaraga za algorithm.
Gufata igenamigambi algorithms itanga urutonde rwabakandida bafata kubintu bikurikiranwa ukurikije imiterere nubunini. Sisitemu noneho isuzuma buri gufata neza kandi igahitamo imwe ihamye. Fata ibisekuru bya algorithms ukoreshe tekinike yimbitse yo kwiga kugirango wige gufata ibintu bitandukanye no kubyara gufata udakeneye igenamigambi ryeruye.
Imbaraga zo gukwirakwiza algorithms nubundi bwoko bwo gufata algorithm yita kuburemere bwikintu no kugabura kugirango hamenyekane imbaraga zifatika. Iyi algorithm irashobora kwemeza ko robot ishobora gufata ibintu biremereye kandi binini bitayitaye.
4. Grippers
Ingingo yanyuma yiboneza ya sisitemu ya 3D igaragara yo gufata ni gripper. Gripper ni ikiganza cya robo gifata kandi kigakoresha ikintu cyunvikana. Hariho ubwoko bwinshi bwa grippers burahari, harimo gufata urwasaya ruringaniye, gufata intoki eshatu, hamwe no gufata.
Gufata urwasaya ruringaniye rugizwe n'imisaya ibiri ibangikanye igenda yerekeza hamwe kugirango ifate ikintu. Nibyoroshye kandi byizewe, bituma bahitamo gukundwa kubisabwa nko gutoranya no gukora ibikorwa. Gufata intoki eshatu zirahuze kandi zirashobora gufata ibintu byuburyo butandukanye. Barashobora kandi kuzunguruka no kuyobora ikintu, bigatuma biba byiza kubikorwa byo guteranya no gukoresha manipulation.
Gufata ibinyobwa bifashisha ibikombe byo guswera kugirango uhuze ikintu cyunvikana hanyuma ukagitwara. Nibyiza gutunganya ibintu bifite ubuso bworoshye nkikirahure, plastike, nicyuma.
Mu gusoza, guteza imbere aSisitemu yo gufata 3D idafite gahundabisaba gusuzuma witonze ingingo zingenzi za sisitemu. Harimo ibyuma byimbitse, kumenyekanisha ibintu algorithms, gufata algorithm, hamwe na grippers. Muguhitamo ibice bibereye kuri buri ngingo yiboneza, abashakashatsi naba injeniyeri barashobora guteza imbere sisitemu yo gufata neza kandi neza ishobora gufata ibintu byinshi mubidukikije bitubatswe. Iterambere ryizi sisitemu rifite amahirwe menshi yo kuzamura imikorere n’umusaruro winganda zitandukanye, nkinganda, ibikoresho, nubuvuzi.
Igihe cyo kohereza: Nzeri-18-2024
