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