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拷贝托盘库系统架构

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qupengwei
2026-01-06 10:49:45 +08:00
parent 893a24af55
commit 17d96c61c4
107 changed files with 35274 additions and 0 deletions
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130
image_capture/config.json Normal file
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{
"redis": {
"host": "127.0.0.1",
"port": 6379,
"db": 0
},
"cameras": {
"depth_enabled": true,
"color_enabled": true,
"mapping": [
{
"id": "camera_0",
"index": 0
},
{
"id": "camera_1",
"index": 1
},
{
"id": "camera_2",
"index": 2
},
{
"id": "camera_3",
"index": 3
}
]
},
"vision": {
"save_path": "./images",
"log_level": 1
},
"algorithms": {
"beam_rack_deflection": {
"beam_roi_points": [
{
"x": 100,
"y": 50
},
{
"x": 540,
"y": 80
},
{
"x": 540,
"y": 280
},
{
"x": 100,
"y": 280
}
],
"rack_roi_points": [
{
"x": 50,
"y": 50
},
{
"x": 150,
"y": 50
},
{
"x": 150,
"y": 430
},
{
"x": 50,
"y": 430
}
],
"beam_thresholds": {
"A": -10.0,
"B": -5.0,
"C": 5.0,
"D": 10.0
},
"rack_thresholds": {
"A": -6.0,
"B": -3.0,
"C": 3.0,
"D": 6.0
}
},
"pallet_offset": {
"offset_lat_mm_thresholds": {
"A": -20.0,
"B": -10.0,
"C": 10.0,
"D": 20.0
},
"offset_lon_mm_thresholds": {
"A": -20.0,
"B": -10.0,
"C": 10.0,
"D": 20.0
},
"rotation_angle_thresholds": {
"A": -5.0,
"B": -2.5,
"C": 2.5,
"D": 5.0
},
"hole_def_mm_left_thresholds": {
"A": -8.0,
"B": -4.0,
"C": 4.0,
"D": 8.0
},
"hole_def_mm_right_thresholds": {
"A": -8.0,
"B": -4.0,
"C": 4.0,
"D": 8.0
}
},
"slot_occupancy": {
"depth_threshold_mm": 100.0,
"confidence_threshold": 0.8
},
"visual_inventory": {
"barcode_confidence_threshold": 0.7,
"roi_enabled": true
},
"general": {
"min_depth_mm": 800.0,
"max_depth_mm": 3000.0,
"sample_points": 50
}
}
}