Pamene kuphunzira kwa maloboti kukukula kuyambira pa malo olamulidwa a labu mpaka malo enieni, vuto limodzi likupitirizabe kuwonekera: kusonkhanitsa deta.
Kugwiritsa ntchito ma television ndi kolondola koma kochedwa. Makamera a munthu wachitatu sadziwa bwino momwe wogwiritsa ntchito amaonera. Makamera ogwiritsa ntchito alibe njira yolumikizira masensa yomwe njira zamakono zophunzirira zongoyerekeza ndi mapaipi a VIO zimafunikira.
Njira yatsopano ya hardware ikulowa mu malo osungiramo zinthu. Kamera yathu ya Ego ndi kamera ya binocular stereo yomwe imavala mutu yomwe imapangidwa makamaka kuti igwire deta ya egocentric mu kafukufuku wa AI ndi robot.
Lingaliro Lofanana ndi Loboti
Gawoli limavalidwa pamutu pa munthu — ngati lamba wopepuka — ndipo limalemba ndendende zomwe wogwiritsa ntchito amawona pa ntchito. Maganizo awa a munthu woyamba (odzikonda) akhala ofunika kwambiri mu kafukufuku waposachedwa wa robotics.
Kafukufuku waukulu kuyambira 2025 mpaka 2026 — kuphatikizapo HumanEgo, EgoMimic, ndi EgoScale — asonyeza kuti mfundo za maloboti ophunzitsidwa pa kanema wa anthu odzikonda zimatha kufanana kapena kupambana omwe aphunzitsidwa pa deta ya teleoperation, pang'ono poyerekeza ndi mtengo wosonkhanitsira. Mawonedwe ake ndi ofunika: loboti, ikagwiritsidwa ntchito, imawona dziko lapansi kuchokera ku masensa ake omwe ali mkati, osati kuchokera padenga kapena pa tripod mount.
Kamera yathu ya Ego idapangidwa kuti igwirizane ndi kusiyana kumeneku, kupereka deta yophunzitsira yomwe ikugwirizana ndi malingaliro enieni a loboti, kuchotsa kusagwirizana kwa malingaliro pamaphunziro a chitsanzo.
Kapangidwe ka Masensa a Mapaipi Ofufuzira
Masensa a Stereo a Global-Shutter
Kamera iyi imagwiritsa ntchito masensa awiri a global shutter 2MP okhala ndi malo owonera a 60–65°, mogwirizana ndi mawonekedwe a FOV a ma module a robot humanoid head vision. Global shutter ndi chisankho chapadera cha kapangidwe kake: pixel iliyonse imaonekera nthawi imodzi, ndikuchotsa kwathunthu kusokonekera kwa jelly ya shutter yomwe imawononga kuyenda mwachangu kwa manja ndi thupi panthawi yojambulira.
Kusunga Deta Yosaphika (Palibe EIS)
Timachotsa mwadala kukhazikika kwa chithunzi chamagetsi cha EIS chomwe chili mu kompyuta. EIS imadula mawonekedwe oyambira ndikusintha magawo amkati ndi akunja okonzedwa ndi fakitale, zomwe zingasokoneze kufanana kwa stereo ndi kusinthasintha kwa camera-IMU. Deta yoyambirira yathunthu imasungidwa kuti igwiritsidwe ntchito pokonza algorithm ya robot ya backend.
Kugwirizanitsa Zida Zamakina a Microsecond
IMU yomangidwa mkati mwa ICM-2688 6 axis IMU (accelerometer + gyroscope, sampling pa 200–500 Hz) imagwirizanitsidwa kudzera mu chizindikiro chapadera cha GPIO trigger. Chizindikiro chogwirizana cha pulse chomwe chimatumizidwa kudzera mu ma pin a GPIO chimayambitsa makamera a stereo ndi sampling ya IMU nthawi imodzi. Cholakwika cha sync chili pansi pa 10 microseconds, ndipo chimango chilichonse cha kanema ndi chitsanzo cha IMU chili ndi nthawi yogwirizana ya hardware.
Mlingo uwu wa kulunzanitsa ndi muyezo wofunikira pa mapaipi akuluakulu a VIO monga VINS Fusion ndi OpenVINS, pomwe kulinganiza nthawi kwa mapulogalamu okha kumasonkhanitsa njira yodziwikiratu yolowera pa nthawi yayitali yojambulira.
Kusungirako Kukonza Komwe Kuli M'bwato
Kuwerengera kwathunthu kwa fakitale kumaphimba zinthu zamkati mwa stereo, extrinsics, ndi kusintha kwa kamera kupita ku IMU. Magawo onse a calibration amasungidwa mu Flash ndipo amatha kuwerengedwa bwino kudzera mu SDK ya nsanja yolumikizirana — palibe kuwerengeranso komwe kumafunika mukayamba kugwiritsa ntchito zida.
Kusinthasintha kwa Ntchito
Njira ziwiri zogwirira ntchito zimathandizidwa kuti zikwaniritse zochitika zonse zofufuza.
Kutulutsa Deta Yofanana ndi Mafomu Ambiri
1. Kujambula kwa khadi la TF lomwe lili mkati (kujambula popanda intaneti)
- Mafayilo a kanema wa MP4 ozungulira kumanzere ndi kumanja kuti muwone mwachangu
- Zolemba za CSV zodziyimira pawokha zimasunga deta ya IMU yosaphika yolumikizidwa ndi masitampu a nthawi a microsecond
2. Kujambula kwa PC kudzera pa SDK (kulumikiza kwa USB pansi pa malo a ROS/ROS2)
Imathandizira kutumiza kunja ma data a ROSbag ogwirizana bwino komanso ma seti opepuka a MCAP sensor, omwe amagwirizana mokwanira ndi malo odziwika bwino opanga ma robotic.
Ma timestamp onse a hardware amaikidwa pa chimango chilichonse ndi chitsanzo cha IMU. Mafayilo athunthu a parameter calibration a fakitale amapezeka kudzera mu SDK yovomerezeka.
Chochititsa chidwi n'chakuti, gawoli silikhala ndi ntchito zokonza AI zomwe zili mkati kapena zodziwitsira zokha. Malo ake ofunikira ndikupereka deta yoyera komanso yogwirizana ndi nthawi, zomwe zimapangitsa kuti maphunziro a chitsanzo, kuzindikira zomwe zili mu chandamale ndi algorithm agwire ntchito ngati njira yodziyimira payokha yopangira zinthu ya ofufuza.
Kusintha ndi Kupezeka kwa Malonda
Kamera ya Ego tsopano ikupezeka m'ma laboratories ofufuza padziko lonse lapansi, makampani atsopano opanga ma robotics ndi opanga ma robot okhala ndi anthu. Kutalikirana kwa stereo baseline ndi ma lens FOV configurations omwe angagwiritsidwe ntchito amathandizidwa pama projekiti akuluakulu a ODM volume.
SDK yonse yaukadaulo, zikalata zogwirira ntchito ndi ma code oyesera zitsanzo zimaperekedwa pa oda iliyonse kuti muchepetse ndalama zolumikizira zida.
Lumikizanani nafe
Ngati mukufuna zitsanzo za zinthu, zolemba za SDK, upangiri waukadaulo kapena mayankho a hardware okonzedwa mwamakonda pa projekiti yanu yophunzirira ya roboti, chonde tumizani funso kudzera pa imelo. Gulu lathu la mainjiniya limapereka chithandizo chaukadaulo cha maso ndi maso pa mapulojekiti osonkhanitsa deta a SLAM, VIO ndi AI.
Nthawi yotumizira: Julayi-29-2026
