US 11,951,638 B2
Computer device and method for determining standard depth value of marker
Tung-Chun Hsieh, New Taipei (TW); Chung-Wei Wu, New Taipei (TW); Chih-Wei Li, New Taipei (TW); and Chia-Yi Lin, New Taipei (TW)
Assigned to Chiun Mai Communication Systems, Inc., New Taipei (TW)
Filed by Chiun Mai Communication Systems, Inc., New Taipei (TW)
Filed on Dec. 29, 2020, as Appl. No. 17/136,949.
Claims priority of application No. 201911416699.9 (CN), filed on Dec. 31, 2019.
Prior Publication US 2021/0197390 A1, Jul. 1, 2021
Int. Cl. B25J 13/08 (2006.01); B25J 9/16 (2006.01); G06T 1/00 (2006.01); G06T 7/55 (2017.01); G06T 7/73 (2017.01)
CPC B25J 9/1697 (2013.01) [G06T 1/0014 (2013.01); G06T 7/55 (2017.01); G06T 7/74 (2017.01); G06T 2207/10024 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/30204 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method for determining a standard depth value of a marker comprising:
calculating a maximum depth value based on a force of a gripper of a robotic arm in a direction of a Z-axis read by a force sensor of the robotic arm, comprising: setting the gripper of the robotic arm at a preset distance from a carrying platform; obtaining a Z-axis coordinate value of the robotic arm when a change in the force of the gripper in the direction of Z-axis is greater than a preset value; counting a total number of Z-axis coordinate values of the robotic arm which have been obtained; calculating, when the total number of Z axis coordinate values of the robotic arm that have been obtained are equal to a predetermined threshold amount of values N, the maximum depth value based on the N number of Z-axis coordinate values of the robotic arm by a root mean square;
controlling a camera of the robotic arm to capture a depth image and a color image of the marker;
obtaining depth values of four corners of the marker from the depth image;
calculating a reference depth value of the marker based on the depth values of the four corners of the marker;
obtaining a Z-axis coordinate value of the marker based on the color image;
calculating a difference between the reference depth value of the marker and the Z-axis coordinate value of the marker, when both of the reference depth value of the marker and the Z-axis coordinate value of the marker are less than the maximum depth value;
setting the reference depth value as the standard depth value of the marker in response that the difference is less than or equal to 0; and
setting the Z-axis coordinate value of the marker as the standard depth value of the marker in response that the difference is greater than 0.