In robotic applications,3D depth cameras are mainly used in three aspects: precise secondary positioning of robotic arms, personnel following, and robotic arm obstacle avoidance. Two of them are briefly described below:
1. Precise secondary positioning of the robotic arm:
During the inspection of the machine room, the robot needs to be accurately positioned to a certain point, and then controlled by the robot arm, so that the camera at the end of the robot arm can take stable pictures to realize algorithm recognition. There will be errors in the process of robot positioning, including the distance error and angle error of the robot facing the cabinet. Precise secondary positioning solves this problem. The specific implementation is to use the depth of field data of the 3D depth camera to perceive the position of the robot and the cabinet, and to control the robotic arm through algorithm operation to achieve a stable capture function.
Algorithm idea: Identify the edge features of the cabinet through the depth data, then intercept the plane of the cabinet to determine the relative orientation of the cabinet and the robot, and adjust the robotic arm to achieve the desired best shooting position according to the actual measured distance value.
