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Katedra Robotyki i Mechatroniki  

 

System wizyjny robota AdeptOne (Ćw 4.)

 

Temat: Programowanie 

Prowadzący: dr inż. Piotr KOHUT 

Grupa: 

 

Imię i nazwisko: 

Data: 

Uwagi: 

 
 
 
 
 
 
 
 
 
 
 
 
 

 

 

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Ćwiczenie 4) Programowanie 
 
Wykorzystywane instrukcje: 
VDISPLAY, VPICTURE, VQUEUE, VLOCATE,  VFEATURE, , VWAIT, VTHRESHOLD  
 
Kolejność instrukcji: 

1)  Ustalenie sposobu wyświetlania VDISPLAY 
2)  Pobranie, przetworzenie i rozpoznanie obrazu VPICTURE 
3)  Ustalenie czasu na zakończenie poprzedniej operacji VWAIT 
4)  Wyświetlenie informacji o nie/rozpoznanych obiektach znajdujących się na stosie (w 

kolejce wizyjnej) VQUEUE 

5)  Przypisanie lokalizacji dla nie/rozpoznanego obiektu VLOCATE  
6)  Uzyskanie informacji o cechach przetwarzanego obiektu VFEATURE 
 

 
 
 

Przełączniki (Switches) 

 V.BINARY 

 V.BOUNDARIES 

 V.BACKLIGHT 

Parametry (Parameters) 

1 V.FIRST.COL 

1 V.FIRST.LINE 

512 

V.LAST.COL 

484 V.LAST.LINE 

262144 

V.MAX.AREA 

  V.MIN.AREA 

 

V.OFFSET  

V.GAIN 

 

V.MIN.HOLE.AREA 

 

V.TRESHOLD 0 

V.2ND.TRESH 

 

V.EDGE.STRENGHT 

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Zadanie 1) Rozpoznawanie (Prototypowanie) 
Należy napisać program rozpoznający zadane obiekty. Po rozpoznaniu robot pobiera i 
odkłada obiekty na zadane lokalizacje z wykorzystaniem transformacji względnych. [W 
pierwszej kolejności należy zrealizować proces prototypowania (uczenia systemu) wybranych 
obiektów].  

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Zadanie 2) Momentu drugiego rzędu (orientacja obiektu).  
Należy napisać program umożliwiający: 1) lokalizację dowolnego przedmiotu, 2) określenie 
współrzędnych jego geometrycznych środków ciężkości oraz  3) graficzne przedstawienie 
linii odpowiadających osiom, dla których moment bezwładności analizowanego obiektu ma 
wartość najmniejszą (orientacja obiektu) oraz największą .  
  
 

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Zadanie 3) Pomiary obiektów (VRULERI) 
Należy napisać program dokonujący żądanych pomiarów obiektów.  

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Zadanie 3) Należy napisać program, który umożliwia wyznaczenie pola powierzchni obiektu 
w zadanych jednostkach . Również należy zaimplementować i wyznaczyć współczynnik 
krągłości  (4*Pi * Area / Obwód^2) dla analizowanych obiektów.  
  
 

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