97 lines
3.2 KiB
Markdown
97 lines
3.2 KiB
Markdown
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# WorkpieceProject - 工件定位与拼接项目
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本项目包含基于双目视觉的工件定位抓取和精密拼接两大应用。
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## 📂 项目结构
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```
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WorkpieceProject/
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├── WorkpiecePositionApp/ # 工件定位抓取应用
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│ └── 使用 BinocularMarkReceiver + EpicEyeDevice 进行工件抓取
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│
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├── WorkpieceSpliceApp/ # 工件拼接装配应用
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│ └── 使用 BinocularMarkReceiver 进行精密拼接闭环控制
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│
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├── WorkpieceProjectConfig/ # 公共配置库
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│
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├── BUSINESS_FLOW.md # 📖 业务流程总览
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└── BUSINESS_FLOW_DETAILS.md # 📖 业务流程详细说明
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```
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## 🎯 核心应用
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### 1. WorkpiecePositionApp - 工件定位抓取
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- **传感器**: BinocularMark (远程) + EpicEyeDevice (本地点云相机)
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- **功能**: 双传感器融合，计算工件抓取位姿
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- **精度**: ±0.2mm
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- **算法**: Mark 坐标系建立 + 点云配准 + PCA 姿态估计
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### 2. WorkpieceSpliceApp - 工件拼接装配
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- **传感器**: BinocularMark (远程)
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- **功能**: 闭环位姿调整，精密拼接
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- **精度**: ±0.1mm, ±0.5°
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- **控制**: 实时 Mark 反馈 + SVD 位姿拟合 + 闭环 PID 控制
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## 📖 文档说明
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### [BUSINESS_FLOW.md](./BUSINESS_FLOW.md) - 业务流程总览
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包含以下内容：
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- 🎯 系统架构图
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- 🔄 核心业务流程
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- 📊 关键模块对比
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- 🔗 数据结构定义
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- 💡 典型应用场景
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### [BUSINESS_FLOW_DETAILS.md](./BUSINESS_FLOW_DETAILS.md) - 业务流程详细说明
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包含以下内容：
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- WorkpiecePositionApp 详细流程（双传感器融合）
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- WorkpieceSpliceApp 详细流程（闭环控制）
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- 算法实现细节
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- 数据结构完整定义
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- 系统性能指标
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- 模块依赖关系
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## 🔗 依赖模块
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### 核心依赖
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- **BinocularMarkReceiver**: TCP 客户端，接收 Mark 3D 数据
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- **BinocularMarkApp**: TCP 服务端，提供 Mark 检测（位于 `App/BinocularMark/`）
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- **EpicEyeDevice**: VisionPro 相机驱动，提供点云数据（仅 WorkpiecePositionApp）
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- **GalaxyDevice**: 大恒相机驱动（BinocularMarkApp 使用）
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### SDK 依赖
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- **SDK/binocularMark**: Charuco Mark 3D 检测算法
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- **SDK/workpieceCornerExtraction**: 工件角点提取算法
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- **SDK/VzNLSDK**: VisionPro 相机 SDK
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- **Eigen 3.3.9**: 矩阵运算和位姿计算
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## 🚀 快速开始
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### 查看业务流程
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1. 先阅读 [BUSINESS_FLOW.md](./BUSINESS_FLOW.md) 了解系统架构
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2. 再阅读 [BUSINESS_FLOW_DETAILS.md](./BUSINESS_FLOW_DETAILS.md) 了解技术细节
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### 构建项目
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```bash
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cd WorkpieceProject
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qmake WorkpieceProject.pro
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nmake # Windows
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# 或
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make # Linux
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```
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## ⚙️ 系统性能
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| 指标项 | WorkpiecePosition | WorkpieceSplice |
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|--------|-------------------|-----------------|
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| **精度** | ±0.2mm | ±0.1mm, ±0.5° |
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| **速度** | <500ms/次 | <1s/次调整 |
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| **可靠性** | 95%成功率 | 2-3次收敛 |
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| **延迟** | <50ms反馈 | <100ms反馈 |
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## 📞 相关文档
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- BinocularMarkApp 配置说明: `../../BinocularMark/BinocularMarkApp/CONFIG_README.md`
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- BinocularMarkReceiver 接口说明: `../../../Module/BinocularMarkReceiver/Inc/IBinocularMarkReceiver.h`
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- 项目整体说明: `../../../CLAUDE.md`
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