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一种多芯光纤分路器及其制作方法

成果领域:

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成果归属企业: 深圳大学

成果鉴定时间:

成果介绍

本发明公开了一种基于主动双目视觉的机械手手眼标定方法，有如下步骤：S1、使用2D平面标定靶对双目视觉传感器进行标定，建立双目视觉传感器坐标系；S2、移动机械手末端到任意位置，记录此时机械手末端在机械手坐标系下的坐标，结构光发生器向机械手末端投射编码图像，双目视觉传感器采集图像，利用编码图案信息和极线几何约束计算机械手末端在双目视觉传感器坐标系下的三维坐标；S3、重复步骤S2得到多组坐标数据，计算出机械手坐标系与双目视觉传感器坐标系的关系，即机械手手眼关系。

成果应用案例介绍

机械设备>其它机械设备类>主动机器; 测量实验>测量方法>双目视觉标定方法; 生物(体)>动物组织>手眼

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[ BEHAVIOR ] Run Closure @app_init [ RunTime:0.000012s ]
[ CACHE ] INIT File
[ BEHAVIOR ] Run \addons\briefurl\Briefurl @app_init [ RunTime:0.001315s ]
[ BEHAVIOR ] Run \addons\fastflow\Fastflow @app_init [ RunTime:0.000025s ]
[ BEHAVIOR ] Run \addons\notice\Notice @app_init [ RunTime:0.000250s ]
[ BEHAVIOR ] Run \addons\qrcode\Qrcode @app_init [ RunTime:0.000178s ]
[ BEHAVIOR ] Run \addons\treaty\Treaty @app_init [ RunTime:0.000027s ]
[ BEHAVIOR ] Run \addons\upyun\Upyun @app_init [ RunTime:0.000015s ]
[ BEHAVIOR ] Run Closure @app_init [ RunTime:0.000030s ]
[ BEHAVIOR ] Run app\common\behavior\Common @app_init [ RunTime:0.000228s ]
[ LANG ] /www/wwwroot/open.juabc.com/thinkphp/lang/zh-cn.php
[ BEHAVIOR ] Run app\common\behavior\Common @app_dispatch [ RunTime:0.000012s ]
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[ HEADER ] array ( 'connection' => 'keep-alive', 'cache-control' => 'max-age=0', 'x-forwarded-for' => '10.3.214.228', 'via' => '1.1 squid-proxy-5b96dc6d46-4ksd5 (squid/6.13)', 'host' => 'www.zqqyzhfw.com', 'accept-encoding' => 'gzip, br, zstd, deflate', 'user-agent' => 'Mozilla/5.0 AppleWebKit/537.36 (KHTML, like Gecko; compatible; ClaudeBot/1.0; +claudebot@anthropic.com)', 'accept' => '*/*', 'content-type' => '', 'content-length' => '', )
[ PARAM ] array ( 'ids' => '4732', )
[ LANG ] /www/wwwroot/open.juabc.com/public/../application/index/lang/zh-cn.php
[ BEHAVIOR ] Run app\common\behavior\Common @module_init [ RunTime:0.000810s ]
[ BEHAVIOR ] Run \addons\upyun\Upyun @module_init [ RunTime:0.000129s ]
[ BEHAVIOR ] Run \addons\wxfollowlogin\Wxfollowlogin @module_init [ RunTime:0.000019s ]
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[ DB ] INIT mysql
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[ RUN ] app\index\controller\Results->views[ /www/wwwroot/open.juabc.com/application/index/controller/Results.php ]
[ VIEW ] /www/wwwroot/open.juabc.com/public/../application/index/view/results/views.html [ array ( 0 => 'user', 1 => 'site', 2 => 'config', 3 => 'data', 4 => 'active', 5 => 'login', 6 => 'catelist', 7 => 'views', ) ]
[ BEHAVIOR ] Run \addons\wxfollowlogin\Wxfollowlogin @view_filter [ RunTime:0.000025s ]

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