Kwiminyaka yakutshanje, icandelo leerobhothi lenze inkqubela phambili enkulu ekuphuhliseni oomatshini abakrelekrele abakwazi ukwenza imisebenzi entsonkothileyo enje ngokubamba, ukukhohlisa, kunye nokuqondwa kwezinto kwindawo ezahlukeneyo. Enye indawo yophando ethe yafumana ingqwalasela enkulu yi-3D ebonakalayo engacwangciswanga yokubamba iinkqubo. Ezi nkqubo zijolise ekufundeni indlela yokuchola-chola izinto ezahlukeneyo zeemilo, ubukhulu, kunye nokwakheka kwimeko engacwangciswanga. Kweli nqaku, siza kuphonononga iingongoma eziphambili zoqwalaselo lokuphuhlisa inkqubo esebenzayo yokubona engacwangciswanga ye-3D.
1. Abenzi boluvo olunzulu
Eyokuqala kunye neyona ndawo ibalulekileyo yoqwalaselo aInkqubo yokubona ye-3D yokubambazizinto ezibonisa ubunzulu. Ubunzulu boluvo zizixhobo ezibamba umgama phakathi koluvo kunye nento ebonwayo, ukubonelela ngolwazi oluchanekileyo kunye neenkcukacha zendawo. Kukho iindidi ngeendidi zezinzwa zobunzulu ezikhoyo kwimarike, kubandakanya i-LIDAR, kunye neekhamera zestereo.
I-LIDAR yenye inzwa yobunzulu edumileyo esebenzisa itekhnoloji yelaser ukulinganisa imigama. Ithumela i-laser pulses kwaye ilinganise ixesha elithathayo ukuze i-laser ibuyele umva kwinto eviwayo. I-LIDAR inokubonelela nge-high-resolution ye-3D imifanekiso yento, iyenza ilungele izicelo ezifana nemephu, ukuhamba, kunye nokubamba.
Iikhamera zestereo lolunye uhlobo lwenzwa yobunzulu ebamba ulwazi lwe-3D kusetyenziswa iikhamera ezimbini ezibekwe ecaleni kwenye. Ngokuthelekisa imifanekiso ethathwe yikhamera nganye, le nkqubo inokubala umgama ophakathi kweekhamera nento eviwayo. Iikhamera zestereo zikhaphukhaphu, ziyafikeleleka, kwaye kulula ukuzisebenzisa, nto leyo ezenza zibe lukhetho oludumileyo kwiirobhothi ezihambayo.
2. Ii-algorithms zokuqondwa kwento
Inqaku lesibini elibalulekileyo loqwalaselo lwenkqubo ye-3D yokubamba ebonwayo yi-algorithms yokuqaphela into. Ezi algorithms zenza ukuba inkqubo ichonge kwaye ihlele izinto ezahlukeneyo ngokusekelwe kwimilo yazo, ubungakanani, kunye nokwakheka. Kukho ii-algorithms ezininzi zokuqondwa kwezinto ezikhoyo, kubandakanya ukusetyenzwa kwamafu, ukuthelekisa umphezulu, ukuthelekisa amanqaku, kunye nokufunda nzulu.
I-Point cloud processing yi-algorithm yokuqaphela into eyaziwayo eguqula idatha ye-3D ebanjwe yi-sensor enzulu kwi-point cloud. Inkqubo ke ngoko ihlalutya ilifu lencopho ukuchonga imilo kunye nobukhulu bento eviwayo. Ukuthelekisa umphezulu yenye algorithm ethelekisa imodeli ye-3D yento ebonwayo kwithala leencwadi lezinto ezaziwa ngaphambili ukuchonga into yesazisi.
Ukutshatisa i-Feature yenye enye i-algorithm echonga iimpawu eziphambili zento ebonwayo, njengeekona, i-edges, kunye nee-curves, kwaye zitshatise kwi-database yezinto ezaziwa ngaphambili. Okokugqibela, ukufunda okunzulu luphuhliso lwakutsha nje kwi-algorithms yokuqondwa kwento esebenzisa iinethiwekhi ze-neural ukufunda kunye nokuqonda izinto. Ii-algorithms zokufunda nzulu zinokuqaphela izinto ngokuchaneka okuphezulu kunye nesantya, zizenze zilungele usetyenziso lwexesha lokwenyani olunje ngokubamba.
3. Ukubamba ii-algorithms
Indawo yesithathu ebalulekileyo yoqwalaselo aInkqubo yokubona ye-3D yokubambayi-algorithms yokubamba. I-algorithms yokubamba ziinkqubo ezenza ukuba irobhothi ithathe kwaye ilawule into eviwayo. Kukho iintlobo ezininzi ze-algorithms zokubamba ezikhoyo, kubandakanya i-algorithms yokucwangcisa, i-algorithms yokuvelisa, kunye ne-algorithms yokuhambisa amandla.
I-algorithms yokucwangcisa i-Grasp ivelisa uluhlu lwabaviwa ababamba into ebonwayo ngokusekelwe kwimilo kunye nobukhulu bayo. Inkqubo emva koko ivavanya uzinzo lokubamba ngalunye kwaye ikhethe eyona izinzile. I-algorithms yokuvelisa i-Grasp isebenzisa ubuchule bokufunda obunzulu ukufunda indlela yokubamba izinto ezahlukeneyo kunye nokwenza ukubamba ngaphandle kwesidingo sokucwangcisa okucacileyo.
Ukunyanzeliswa kwe-algorithms yokuhambisa lolunye uhlobo lwe-algorithm yokubamba ethathela ingqalelo ubunzima bento kunye nosasazo ukumisela amandla okubamba awona aphezulu. Ezi algorithms zinokuqinisekisa ukuba irobhothi inokuchola izinto ezinzima kunye nezinkulu ngaphandle kokuziwisa.
4. Iigrippers
Inqaku lokugqibela elibalulekileyo lokumisela inkqubo ye-3D yokubamba imbonakalo yimbambi. Isixhobo sokubamba sisandla serobhothi esicholachola kwaye silawule into eviwayo. Kukho iindidi ezininzi zokubamba ezikhoyo, ezibandakanya ukubamba imihlathi ehambelanayo, izinto zokubamba ezineminwe emithathu, kunye nezinto zokubamba ezifunxayo.
Izibambi zemihlathi ezinxuseneyo zinemihlathi emibini enxuseneyo eya ngakuyo ukuze ibambe into. Zilula kwaye zithembekile, zizenza zibe lukhetho oludumileyo lwezicelo ezinje ngokukhetha kunye nokusebenza kwendawo. Izibambi zeminwe emithathu zisebenza ngeendlela ezininzi kwaye ziyakwazi ukubamba izinto ezahlukeneyo zeemilo kunye nobukhulu. Basenokujikeleza kwaye baqhube into, bayenze ilungele ukuhlanganisa kunye nemisebenzi yokuguqula.
Izibambi zokufunxa zisebenzisa iikomityi zokufunxa ivacuum ukuncamathisela kwinto evayo kwaye iyichole. Zikulungele ukuphatha izinto ezinomgangatho ogudileyo njengeglasi, iplastiki kunye nentsimbi.
Ukuqukumbela, ukuphuhlisa aInkqubo yokubamba engacwangciswanga ye-3D ebonakalayoifuna uqwalaselo ngononophelo lwamanqaku oqwalaselo angundoqo enkqubo. Ezi zibandakanya abenzi boluvo obunzulu, ii-algorithms zokuqondwa kwezinto, ii-algorithms zokubamba, kunye neegrippers. Ngokukhetha awona macandelo afanelekileyo kwindawo nganye yoqwalaselo, abaphandi kunye neenjineli banokuphuhlisa iinkqubo zokubamba ezisebenzayo nezisebenzayo ezinokusingatha uluhlu olubanzi lwezinto kwiindawo ezingamiselwanga. Uphuhliso lwezi nkqubo lunamandla amakhulu okuphucula ukusebenza kakuhle kunye nemveliso yamashishini ahlukeneyo, afana nokuvelisa, ukuhanjiswa, kunye nokhathalelo lwezempilo.
Ixesha lokuposa: Sep-18-2024
