project description

vincentX3 · Aug 12, 2019 · 2ec9136 · 2ec9136
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diff --git a/README.md b/README.md
@@ -1,6 +1,33 @@
 # ICL_robot_arm
- ICL robotic arm project (Pick and Place)
----
-### 👆👆👆划掉
-# 今日project：最帅的吴文超生日快乐！！！
-> （姑且今日最帅吧~）
+![title](\img\title.png)
+
+## Our Concept
+![concept](\img\concept.png)
+We want the robotic arm can fetch instrument from surgeon's hand and place it to specific place. Also the arm can pick and pass instruments to surgeon by recognizing surgeon's order.
+
+## System Pipeline
+![pipeline](\img\pipeline.png)
+
+## Environment
+### software
+- Arduino IDE
+- Python 3.6
+    > package:
+    > - pyrealsense2
+    > - pillow  
+    > - tensorflow=1.10.0
+    > - keras
+    > - opencv
+    > - pyqt
+    > - pandas
+    > - pyaudio
+    > - speechrecognition
+
+### hardware
+- real sense camera D415
+- robotic arm
+
+## Demo
+[experimental demo](\img\实验.mp4)
+
+[editor version](\img\arm_final.mp4)
diff --git a/img/arm_final.mp4 b/img/arm_final.mp4
diff --git a/img/concept.png b/img/concept.png
diff --git a/img/pipeline.png b/img/pipeline.png
diff --git a/img/title.png b/img/title.png
diff --git a/img/实验.mp4 b/img/实验.mp4
diff --git a/yolo3/utils.py b/yolo3/utils.py
@@ -14,7 +14,7 @@ def coordinate_transform(a3, b3, c3):
     [x1, y1] = [-10, 30]
     [x2, y2] = [-25, 20]
     [x4, y4] = [-10, 20]
-    camera_height = 0.76  
+    camera_height = 0.76
     k1 = ((b2-b4)*(a3-a4)-(b3-b4)*(a2-a4))/((a1-a4)*(b2-b4)-(a2-a4)*(b1-b4))
     k2 = ((b1-b4)*(a3-a4)-(a1-a4)*(b3-b4))/((a2-a4)*(b1-b4)-(b2-b4)*(a1-a4))
     x3 = (k1*(x1-x4)+k2*(x2-x4)+x4)/100