Machine Tending¶

Workpieces that are Arranged Neatly¶

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Large Non-Planar Workpiece Loading

Scenario: Pick workpieces that are arranged neatly.
Function: Detect and locate the workpieces on the top layer.
Condition: The workpieces on the same layer do not overlap with each other, or the workpieces are transported individually.

Workpieces that are Stacked Randomly¶

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Overlapping Planar Workpiece Loading

Scenario: Pick workpieces that are placed or stacked randomly.
Function: Detect the pickable workpieces in the scene.
Condition: The surface of the workpiece is planar.

Small Non-Planar Workpiece Loading

Scenario: Pick workpieces that are placed or stacked randomly.
Function: Detect the pickable workpieces in the scene.
Condition: The surface of the workpiece is curved.