Patent ID: 11951638
Assignee: CHIUN MAI COMMUNICATION SYSTEMS, INC.
Field: Computer technology (Electrical engineering)
Classification: CPC B  G | IPC B  G

Claim 6:
7. A computer device comprising:
a storage device;
at least one processor; and
the storage device storing one or more programs, which when executed by the at least one processor, cause the at least one processor to:
calculate a maximum depth value based on a force of a gripper of a robotic arm in a direction of a Z-axis read by a force sensor of the robotic arm, comprising: setting the gripper of the robotic arm at a preset distance from a carrying platform; obtaining a Z-axis coordinate value of the robotic arm when a change in the force of the gripper in the direction of Z-axis is greater than a preset value; counting a total number of Z-axis coordinate values of the robotic arm which have been obtained; calculating, when the total number of Z axis coordinate values of the robotic arm that have been obtained are equal to a predetermined threshold amount of values N, the maximum depth value based on the N number of Z-axis coordinate values of the robotic arm by a root mean square;
control a camera of the robotic arm to capture a depth image and a color image of the marker;
obtain depth values of four corners of the marker from the depth image;
calculate a reference depth value of the marker based on the depth values of the four corners of the marker;
obtain a Z-axis coordinate value of the marker based on the color image;
calculate a difference between the reference depth value of the marker and the Z-axis coordinate value of the marker, when both of the reference depth value of the marker and the Z-axis coordinate value of the marker are less than the maximum depth value;
set the reference depth value as the standard depth value of the marker in response that the difference is less than or equal to 0; and
set the Z-axis coordinate value of the marker as the standard depth value of the marker in response that the difference is greater than 0.