Application scenario looks something like this:

(1) the first manipulator clamp with pneumatic screwdriver) will go to the silk hole coordinates are probably above

2) the camera after putting in place a manipulator, receives the photograph photo trigger signal,

3) collected image after image processing, to determine the wire holes in the image coordinates, calculated manipulator and the level of the hole deviation,

4) deviation feedback to PLC, PLC according to adjust the manipulator position deviation, repeat steps 2 to 4, until it can be screwed into the screw;

Control the thinking whether there is a problem here, please?


There's a problem, image recognition can determine orifice (center) is located in the collected image coordinates of the X1;

So how to calculate the deviation?

Digital sensor devices to metal parts: D1, camera installation position distance screwdriver position: D2,
X1 and calculate the X1 D1 distances from the center of the image of the actual error value, and then calculated according to the D2 silk hole distance the actual error of screwdriver,

So calculate?????????????????