Computer device and method for determining standard depth value of marker

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.

A non-transitory storage medium having instructions stored thereon, when the instructions are executed by a processor of a computer device, the processor is configured to perform a method of determining a standard depth value of a marker, wherein the method comprises:

• calculating 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;
• controlling a camera of the robotic arm to capture a depth image and a color image of the marker;
• obtaining depth values of four corners of the marker from the depth image;
• calculating a reference depth value of the marker based on the depth values of the four corners of the marker;
• obtaining a Z-axis coordinate value of the marker based on the color image;
• calculating 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;
• setting 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
• setting 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.