Nkag siab Daim Ntawv Thov Ntawm 3D Lub Zeem Muag hauv AGV / AMR Field

Key Takeaway:

3D lub zeem muag ua rau cov neeg hlau txawb pom, nkag siab, thiab cuam tshuam nrog lawv ib puag ncig. Nws yog kev siv tshuab ntau hom kev sib txuas ua ke hauv computer graphics, computer vision, thiab kev txawj ntse. 3D vision technology captures peb-dimensional coordinates ntawm txhua qhov taw tes nyob rau hauv nws qhov kev pom los ntawm 3D koob yees duab, reconstructing ib tug 3D duab siv algorithms. Piv rau 2D duab, 3D pom kev ruaj khov, ua haujlwm zoo rau kev hloov pauv ntawm ib puag ncig thiab teeb pom kev zoo, thiab muab cov neeg siv kev paub zoo dua thiab kev nyab xeeb dua.

3D Vision Technology Pathways

3D sensors ua raws li "qhov muag" ntawm 3D lub zeem muag, siv kev sib txuas ntawm ntau lub koob yees duab thiab qhov tob sensors los sau cov ntaub ntawv ntawm peb qhov chaw thiab qhov loj ntawm cov khoom. Lub ntsiab 3D pom kev pom tam sim no muaj yog lub koob yees duab binocular, cov koob yees duab teeb pom kev zoo, thiab TOF (Time of Flight) koob yees duab.

• 3D Structured Light Technology: Txoj kev no siv lub teeb infrared, uas yog npaj rau ib yam khoom nrog ib qho kev encoding. Thaum lub teeb pom kev rov qab, tus qauv yuav deform nyob ntawm qhov khoom nyob deb. Cov duab sensor ntes cov qauv deformed, thiab siv triangulation, qhov deformation ntawm txhua pixel yog xam los ntawm qhov sib txawv ntawm qhov sib txawv thiab suav ntxiv qhov tob tus nqi.

• TOF (Lub Sijhawm Dav Hlau) Txoj Cai: Cov txheej txheem no siv lub teeb ci infrared los tawm cov teeb pom kev siab zaus mus rau ib yam khoom, tom qab ntawd tau txais cov pulses reflected thiab xam qhov kev ncua deb ntawm lub koob yees duab mus rau qhov khoom los ntawm kev ntsuas lub sij hawm mus ncig ntawm lub teeb pulses. Tam sim no, muaj ob lub ntsiab lus TOF hauv kev ua lag luam: dTOF thiab iTOF. Cov kws tshaj lij kev lag luam ntseeg tias dTOF yuav maj mam hloov iTOF vim tias nws qhov kev ua tau zoo tshaj plaws hauv cov ntsiab lus tseem ceeb xws li kev daws teeb meem, qhov tseeb, kev siv hluav taws xob tsawg tsawg, muaj peev xwm tiv thaiv kev cuam tshuam, thiab yooj yim calibration. Txawm li cas los xij, dTOF muaj cov teeb meem kev lag luam siab, kev sib koom ua ke siab, thiab cov khoom siv tsis tshua muaj cov saw hlau.

• Binocular Stereo Vision Technology: Txoj kev no simulates tib neeg lub zeem muag los ntawm kev soj ntsuam tib yam khoom los ntawm ob qhov kev xav, tau txais cov duab ntawm cov khoom los ntawm qhov sib txawv. Siv triangulation, qhov sib txawv ntawm qhov chaw (qhov sib txawv) ntawm pixels hauv cov duab yog suav kom tau txais 3D duab ntawm cov khoom. Cov khoom siv kho vajtse ntawm lub tshuab hluav taws xob tsis pom kev pom feem ntau siv ob lub koob yees duab ua cov khoom siv pom kev pom. Cov koob yees duab no txuas rau lub khoos phis tawj los ntawm ob lub tswv yim channel duab tau txais daim npav, thiab cov cim analog uas tau sau los ntawm cov koob yees duab raug coj mus kuaj, lim, txhim kho, thiab hloov mus rau hauv daim ntawv digital, thaum kawg muab cov ntaub ntawv duab rau lub computer.

Kev siv 3D Vision hauv Mobile Robots

Raws li kev pom kev thev naus laus zis hloov zuj zus los ntawm 2D mus rau 3D, 3D pom kev pom tau dhau los ua qhov tseem ceeb hauv cov neeg hlau txawb, muab kev nkag siab tob thiab ua kom pom lub sijhawm ntawm peb qhov chaw, paub qhov khoom raug, paub ntau yam teeb meem thiab kev zam, kev txiav txim siab ntse, thiab automated kev taw qhia. Cov peev txheej no tau siv ntau ntxiv hauv kev xa khoom, kev lag luam e-lag luam, automation, kev tsim khoom, kev lag luam thiab kev pabcuam neeg hlau, chaw lag luam, thiab lwm yam, nrog rau kev nthuav dav daim ntawv thov ciam teb.

Hauv mobile robotics, 3D lub zeem muag feem ntau yog siv rau kev taw qhia, kev zam kev cuam tshuam, thiab kev lees paub ntawm cov khoom kawg thiab docking.

• Kev taw qhia: Qhov tseeb ib puag ncig sensing yog lub luag hauj lwm tseem ceeb rau mobile robots. Qhov "ib puag ncig" ntawm no suav nrog ntau yam xws li cuam tshuam los ntawm cov teeb pom kev sib txawv sab hauv tsev thiab sab nraum zoov, cov teeb meem hauv txoj kev, txawm tias txoj hauv kev yog qhov tseeb thiab tiaj tus, hom khoom hauv ib puag ncig, txawm tias muaj cov neeg uas yuav ua rau cov neeg hlau. qeeb los yog nres, txawm tias lub pallet tom ntej yog khoob lossis tag nrho, qhov twg qhov ntxig ntxig ntawm lub pallet thauj khoom, thiab yuav ua li cas npaj txoj kev tuaj tos. Yooj yim, lub logic yog tias lub zeem muag-raws li lub xov tooj ntawm tes neeg hlau xav tau kom paub meej txog nws qhov chaw nyob ib puag ncig, zam kev tsis sib haum xeeb thiab zoo li qub, mus ze rau lub hom phiaj dynamically (navigation), thiab sib cuam tshuam nrog lub hom phiaj khoom (khoom pom thiab pom qhov chaw paub).

• Obstacle Avoidance: Lub khw muaj ntau yam kev tiv thaiv kev tiv thaiv, xws li ib kab LiDAR, ultrasound, thiab kev sib tsoo strips. Kev sib tsoo strips feem ntau yog kab kawg ntawm kev tiv thaiv kev tiv thaiv kev sib tsoo; Ultrasound cuam tshuam kev zam feem ntau ua rau muaj qhov tsis zoo; Ib-kab LiDAR muaj qhov muag tsis pom qhov tseem ceeb (tsuas yog kuaj pom cov teeb meem hauv lub dav hlau ob sab, tsis tuaj yeem ntes cov teeb meem hauv qab lossis saum lub laser, ua rau muaj kev nyab xeeb). 3D lub zeem muag sensors tuaj yeem them rau qhov tsis txaus no. Qhov zoo tshaj plaws tam sim no kev zam kev daws teeb meem rau cov neeg hlau txawb yog kev sib xyaw ntawm 3D pom kev pom thiab LiDAR, nrog 3D pom kev sensors muab qhov tseeb luv luv-thiab nruab nrab-ntau qhov cuam tshuam kev zam thiab LiDAR rau ntev-ntau ob-dimensional obstacle zam. Txij li thaum TOF cov koob yees duab zoo li tsis muaj qhov muag tsis pom, lawv tam sim no yog siv ntau tshaj plaws 3D pom lub koob yees duab rau AGV obstacle zam.

• End Recognition thiab Docking: Hauv qee lub tsev khaws khoom, kev tso khoom ntawm cov khoom yog qhov nyuaj, thiab phau ntawv lossis lub tsheb tso ntawm pallets feem ntau tsis raug. Qhov tsis raug no ua rau nws nyuaj rau lub forklift uas tsis muaj neeg saib xyuas kom raug txheeb xyuas cov pallet siv cov kev txwv ib txwm siv los yog kev paub txog lub koob yees duab monocular, ua rau muaj qhov yuam kev tsis tu ncua thaum lub sij hawm pallet docking thiab, yog li ntawd, kev ua haujlwm tsis zoo. Siv lub zeem muag 3D los ntes cov duab pallet, ua ke nrog cov duab tsim nyog ua cov txheej txheem, lub forklift tuaj yeem txheeb xyuas lub pallet txoj hauj lwm thiab lub cev lub cev ua haujlwm, ntse kho cov kev taw qhia rau kev ntxig, thiab ua tiav tsis muaj neeg tsav tsheb ntse pallet tuav, daws qhov teeb meem ntawm qhov sib txawv ntawm qhov loj ntawm lub forklift. pallet docking. Tsis tas li ntawd, AI algorithms tuaj yeem siv los ntxiv dag zog thiab kawm tob txog cov qauv kev paub txog pallet, ntxiv dag zog rau qhov tseeb ntawm pallet paub thiab taug qab.
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Cov lus qhia yav tom ntej: Kev daws teeb meem siab dua, Tus nqi nrawm dua, Kev hloov pauv ib puag ncig zoo dua

Raws li mobile neeg hlau daim ntawv thov txuas ntxiv mus tob, qhov kev thov kom muaj peev xwm nkag siab ntau dua tau nce, thawb 3D pom kev thev naus laus zis hauv kev coj ua no. Txawm li cas los xij, tam sim no daim ntawv thov ntawm 3D pom kev hauv mobile robots tseem nyob rau theem pib. Raws li cov neeg hlau txawb txuas ntxiv mus txuas ntxiv, nrog rau ntau qhov chaw thov kev sib txawv, cov kev xav tau rau 3D lub zeem muag yuav dhau los ua nruj dua, tsav kev hloov kho ntxiv hauv 3D pom kev thev naus laus zis.

Thov nias rau ntawm qhov link hauv qab no kom nyeem ntxiv:

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