Eminyakeni yamuva nje, umkhakha wamarobhothi wenze inqubekelaphambili ebalulekile ekuthuthukiseni imishini ehlakaniphile ekwazi ukwenza imisebenzi eyinkimbinkimbi efana nokubamba, ukukhohlisa, nokuqaphela izinto ezisendaweni ehlukene. Enye indawo yocwaningo esithole ukunakwa okukhulu izinhlelo zokubamba ezingahlelekile ze-3D. Lezi zinhlelo zihlose ukufunda ukuthi zingacosha kanjani izinto ezinomumo, osayizi, kanye nokuthungwa okuhlukene endaweni engahlelekile. Kulesi sihloko, sizohlola amaphuzu abalulekile okumisa ukuze sithuthukise isistimu yokubamba engahlelekile ye-3D ebonakalayo.
1. Izinzwa zokujula
Iphuzu lokumisa lokuqala nelibaluleke kakhulu le-aIsistimu yokubamba ebonwayo ye-3Dizinzwa zokujula. Izinzwa zokujula ngamadivayisi athwebula ibanga phakathi kwenzwa nento ezwayo, ehlinzeka ngolwazi olunembile nolunemininingwane yendawo. Kunezinhlobo ezahlukahlukene zezinzwa zokujula ezitholakala emakethe, kufaka phakathi i-LIDAR, namakhamera we-stereo.
I-LIDAR enye inzwa yokujula edumile esebenzisa ubuchwepheshe be-laser ukukala amabanga. Ithumela ama-laser pulses futhi ikala isikhathi esisithathayo ukuze i-laser ihlehle entweni ezwakalayo. I-LIDAR ingahlinzeka ngezithombe ze-3D zokucaca okuphezulu zento, iyenze ilungele izinhlelo zokusebenza ezinjengokwenza imephu, ukuzulazula, nokubamba.
Amakhamera e-stereo angolunye uhlobo lwenzwa yokujula ethwebula ulwazi lwe-3D kusetshenziswa amakhamera amabili abekwe eduze kwelinye. Ngokuqhathanisa izithombe ezithathwe ikhamera ngayinye, uhlelo lungakwazi ukubala ibanga eliphakathi kwamakhamera nento ezwakalayo. Amakhamera e-stereo alula, ayathengeka, futhi kulula ukuwasebenzisa, okuwenza abe yinketho edumile yamarobhothi eselula.
2. Ama-algorithms wokuqashelwa kwento
Iphoyinti lesibili lokucushwa elibalulekile lesistimu yokubamba okubonakalayo ye-3D ama-algorithms okuqaphela into. Lawa ma-algorithms anika amandla isistimu ukuthi ibone futhi ihlukanise izinto ezahlukahlukene ngokuya ngesimo sazo, usayizi, kanye nokuthungwa kwazo. Kunama-algorithms ambalwa okuqaphela into atholakalayo, okuhlanganisa ukucutshungulwa kwamafu wephoyinti, ukufaniswa kwendawo, ukufaniswa kwesici, nokufunda okujulile.
I-point cloud processing i-algorithm edumile yokuqaphela into eguqula idatha ye-3D ethwetshulwe inzwa yokujula ibe ifu lephoyinti. Uhlelo lube seluhlaziya ifu lephoyinti ukuze libone umumo nosayizi wento ezwayo. Ukufanisa ubuso kungenye i-algorithm eqhathanisa imodeli ye-3D yento ezwayo nomtapo wezincwadi wezinto ezaziwa ngaphambilini ukuze kukhonjwe ubunikazi bento.
Ukufaniswa kwesici kungenye i-algorithm ekhomba izici eziyinhloko zento ezwakalayo, njengamakhona, amaphethelo, namajika, futhi izifanise nesizindalwazi sezinto ezaziwa ngaphambilini. Okokugcina, ukufunda okujulile kuyintuthuko yakamuva kuma-algorithms wokuqaphela into esebenzisa amanethiwekhi e-neural ukufunda nokubona izinto. Ama-algorithms okufunda okujulile angabona izinto ngokunemba okuphezulu nesivinini, okuzenza zilungele izinhlelo zokusebenza zesikhathi sangempela ezifana nokubamba.
3. Ukubamba ama-algorithms
Iphuzu lesithathu lokumisa elibalulekile le-aIsistimu yokubamba ebonwayo ye-3Dama-algorithms okubamba. Ama-algorithms okubamba izinhlelo ezenza irobhothi likwazi ukucosha futhi lilawule into ezwakalayo. Kunezinhlobo ezimbalwa zama-algorithms wokubamba atholakalayo, okuhlanganisa ama-algorithms wokuhlela, ukubamba ama-algorithms wokukhiqiza, kanye nama-algorithms wokusabalalisa amandla.
Ama-algorithms wokuhlela we-Bamba akhiqiza uhlu lokubamba kwekhandidethi lento ezwayo ngokusekelwe kumumo nosayizi wayo. Uhlelo lube seluhlola ukuzinza kokubamba ngakunye bese lukhetha oluzinze kakhulu. Ama-algorithm esizukulwane se-Grasp asebenzisa amasu okufunda ajulile ukuze afunde ukubamba izinto ezihlukene futhi enze ukubamba ngaphandle kwesidingo sokuhlela okucacile.
Ama-algorithms okusabalalisa amandla angolunye uhlobo lwe-algorithm yokubamba ecabangela isisindo sento nokusabalalisa ukuze kunqunywe amandla okubamba afanele. Lawa ma-algorithms angaqinisekisa ukuthi irobhothi lingakwazi ukucosha ngisho nezinto ezisindayo neziyinqwaba ngaphandle kokuziwisa.
4. Ama-Grippers
Iphuzu lokugcina elibalulekile lokucushwa kwesistimu yokubamba okubonakalayo ye-3D igripper. I-gripper yisandla serobhothi esithatha futhi silawule into ezwayo. Kunezinhlobo ezimbalwa zama-grippers atholakalayo, kufaka phakathi i-parallel jaw grippers, into yokubamba iminwe emithathu, kanye ne-suction grippers.
Izibambi zemihlathi ezihambisanayo zinemihlathi emibili ehambisanayo eya komunye nomunye ukuze ibambe into. Alula futhi anokwethenjelwa, okuwenza abe yinketho edumile yezinhlelo zokusebenza ezifana nokukhetha nendawo. Izibambi zeminwe emithathu zinemisebenzi eminingi futhi ziyakwazi ukubamba izinto ezinomumo nosayizi abahlukene. Angakwazi futhi ukuzungezisa futhi alawule into, ayenze ilungele ukuhlanganisa kanye nemisebenzi yokukhohlisa.
Ama-suction grippers asebenzisa izinkomishi zokumunca i-vacuum ukuze anamathisele entweni ezwayo futhi ayicoshe. Zilungele ukuphatha izinto ezinendawo ebushelelezi njengengilazi, ipulasitiki, nensimbi.
Sengiphetha, ukuthuthukisa aIsistimu yokubamba engahlelekile ye-3D ebonakalayoidinga ukucatshangelwa ngokucophelela kwamaphuzu abalulekile okucushwa kwesistimu. Lokhu kufaka phakathi izinzwa ezijulile, ama-algorithms okubona into, ama-algorithms okubamba, nama-grippers. Ngokukhetha izingxenye ezifanele kakhulu zalawa maphuzu okumisa ngakunye, abacwaningi nonjiniyela bangakha izinhlelo zokubamba ezisebenza kahle nezisebenzayo ezingaphatha inhlobonhlobo yezinto ezindaweni ezingahlelekile. Ukuthuthukiswa kwalezi zinhlelo kunamandla amakhulu okuthuthukisa ukusebenza kahle kanye nokukhiqiza kwezimboni ezihlukahlukene, ezifana nezokukhiqiza, ezokuthutha, nokunakekelwa kwezempilo.
Isikhathi sokuthumela: Sep-18-2024
