Mumakore achangopfuura, munda wemarobhoti wakafambira mberi zvakanyanya mukugadzira michina yakangwara inokwanisa kuita mabasa akaomarara sekubata, kubata, uye kuziva zvinhu munzvimbo dzakasiyana. Imwe nzvimbo yekutsvagisa yakawana kutariswa kwakanyanya ndeye 3D yekuona isina kurongeka yekubata masisitimu. Aya masisitimu anovavarira kudzidza kutora zvinhu zvemaumbirwo akasiyana, saizi, uye maumbirwo munzvimbo isina kurongeka. Muchinyorwa chino, isu tichaongorora akakosha ekumisikidza mapoinzi ekugadzira inoshanda 3D yekuona isina kurongeka yekubata system.
1. Depth sensors
Yekutanga uye yakanyanya kukosha yekumisikidza poindi ye3D yekuona yekubata systemndiwo masensa akadzika. Depth sensors midziyo inobata chinhambwe pakati pe sensor nechinhu chirikunzwa, ichipa ruzivo rwakakwana uye rwakadzama rwenzvimbo. Kune akasiyana marudzi ekudzika masensa anowanikwa mumusika, anosanganisira LIDAR, uye stereo kamera.
LIDAR imwe yakakurumbira kudzika sensor inoshandisa laser tekinoroji kuyera madaro. Inotumira laser pulses uye inoyera nguva inotora kuti laser idzoke kubva kune chinhu chirikunzwa. LIDAR inogona kupa yakakwirira-resolution 3D mifananidzo yechinhu, ichiita kuti ive yakanakira maapplication akadai semepu, kufamba, uye kubata.
Makamera estereo imwe mhando yekudzika sensor inobata ruzivo rwe3D uchishandisa makamera maviri akaiswa padivi peumwe neumwe. Nekuenzanisa mifananidzo yakatorwa nekamera yega yega, sisitimu inogona kuverenga chinhambwe chiri pakati pemakamera nechinhu chirikunzwa. Makamera estereo akareruka, anotengeka, uye ari nyore kushandisa, zvichiita kuti ive sarudzo yakakurumbira yemarobhoti enhare.
2. Object kuzivikanwa algorithms
Yechipiri yakakosha yekumisikidza poindi ye 3D yekuona yekubata system ndiyo yekuziva chinhu algorithms. Aya maalgorithms anogonesa sisitimu kuona uye kurongedza zvinhu zvakasiyana zvichienderana nechimiro chazvo, saizi, uye magadzirirwo. Kune akati wandei ekucherechedzwa kwechinhu algorithms aripo, anosanganisira point cloud processing, kuenzanisa kwepamusoro, kufananidzwa kwechimiro, uye kudzidza kwakadzama.
Point Cloud processing chinhu chakakurumbira chekuziva algorithm chinoshandura iyo 3D data yakabatwa neiyo yakadzika sensor kuita gore repoindi. Hurongwa hunozopenengura gore repfundo kuti rione chimiro nekukura kwechinhu chiri kunzwikwa. Kuenzanisa kwepamusoro ndiyo imwe algorithm inofananidza iyo 3D modhi yechinhu chiri kunzwiwa neraibhurari yezvinhu zvaimbozivikanwa kuti zvizivikanwe kuti chinhu chacho ndiani.
Feature matching ndiyo imwe algorithm inoratidza akakosha maficha echinhu chiri kunzwikwa, senge makona, mipendero, uye macurves, uye inoafananidza nedatabase yezvinhu zvaimbozivikanwa. Chekupedzisira, kudzidza kwakadzama ibudiriro ichangoburwa mune yekuziva chinhu algorithms inoshandisa neural network kudzidza nekuziva zvinhu. Yakadzama yekudzidza maalgorithms anogona kuziva zvinhu zvine hunyoro hwepamusoro uye nekumhanya, zvichiita kuti ive yakanakira chaiyo-nguva maapplication akadai sekubata.
3. Kubata algorithms
Yechitatu yakakosha gadziriso poindi ye3D yekuona yekubata systemndiyo yekubata algorithms. Grasping algorithms zvirongwa zvinoita kuti robhoti ritore uye rishandise chinhu chirikunzwa. Kune akati wandei marudzi ekubata algorithms aripo, anosanganisira kubata kuronga algorithms, kubata chizvarwa algorithms, uye simba rekugovera algorithms.
Grasp planning algorithms inoburitsa runyoro rwevamiriri vechinhu chiri kunzwikwa zvichienderana nechimiro chayo uye kukura kwayo. Iyo sisitimu inozoongorora kugadzikana kwega kwega uye inosarudza iyo yakagadzikana zvakanyanya. Grasp generation algorithms anoshandisa nzira dzekudzidza dzakadzika kudzidza kubata zvinhu zvakasiyana uye kugadzira kubata pasina kudiwa kwekuronga kwakajeka.
Simba rekugovera algorithms imwe mhando yekubata algorithm iyo inofunga nezve huremu hwechinhu uye kugovera kuti itarise iro rakakwana rekubata simba. Aya maalgorithms anogona kuve nechokwadi chekuti robhoti rinogona kunhonga zvinhu zvinorema uye zvakakura pasina kudonhedza.
4. Grippers
Iyo yekupedzisira yakakosha yekumisikidza poindi ye 3D yekuona yekubata system ndeye gripper. Iyo gripper irwo ruoko rwemarobhoti runosimudza uye kushandisa chinhu chirikunzwa. Kune akati wandei marudzi ema grippers aripo, anosanganisira parallel jaw grippers, matatu-finger grippers, uye suction grippers.
Parallel jaw grippers dzine shaya mbiri dzakafanana dzinofamba dzakatarisana kuti dzibate chinhu. Iwo akareruka uye akavimbika, achivaita sarudzo yakakurumbira yezvikumbiro zvakaita sekutora uye nzvimbo mashandiro. Zvigunwe zvitatu zvinobatisa zvine mwero uye zvinogona kubata zvinhu zvemaumbirwo akasiyana uye saizi. Ivo vanogona zvakare kutenderedza uye kushandura chinhu, vachivaita chakanakira kuunganidza uye kugadzirisa mabasa.
Suction grippers inoshandisa vacuum suction cups kuti ibatanidze kune chinhu chirikunzwa nekuchinhonga. Iwo akanakira kubata zvinhu zvine nzvimbo dzakatsetseka segirazi, plastiki, uye simbi.
Mukupedzisa, kugadzira a3D yekuona isina kurongeka yekubata systeminoda kunyatsotariswa kweakakosha masisitimu mapoinzi. Izvi zvinosanganisira kudzika masensa, kucherechedzwa kwechinhu algorithms, kubata algorithms, uye grippers. Nekusarudza izvo zvakanyanyokodzera zvikamu zveimwe neimwe yeaya mapoinzi ekumisikidza, vaongorori uye mainjiniya vanogona kugadzira anobudirira uye anoshanda ekubata masisitimu anogona kubata zvakasiyana-siyana zvezvinhu munzvimbo dzisina kurongeka. Kuvandudzwa kweaya masisitimu kune mukana wakakura wekuvandudza mashandiro uye kugadzirwa kweakasiyana maindasitiri, akadai sekugadzira, zvinhu, uye hutano hwehutano.
Nguva yekutumira: Sep-18-2024
