Troubleshooting

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This section introduces the common problems, possible causes, and solutions for the neatly arranged cylindrical shaft loading solution.

Problem 1: 3D Matching Failure with Abnormal Output Poses.

Symptom

The “Station live” in the production interface showed that there were workpieces, and the “Deep learning result” was normal (as shown in the left figure below), but Mech-Vision project did not output recognition results and picking results, resulting in an alarm message saying matching failure and abnormal poses (as shown in the right figure below).

neatly arranged cylindrical shafts common problem 1 problem effect

Possible Cause

The 3D ROI setting in the Point Cloud Prepossessing Procedure was incorrect as it did not cover the entire bin.

neatly arranged cylindrical shafts common problem 1 reason effect

Solution

Reset 3D ROI according to actual situation. Make sure that the green box encompasses the whole bin with a certain margin, and that the green box does not contain other interfering point clouds.

neatly arranged cylindrical shafts common problem 1 solve effect

Problem 2: Abnormal Vision Recognition Results

Symptom

The “Recognition result” in the production interface showed overlapping workpieces and a mismatch between the sizes of the color point cloud model and the white workpiece point cloud.

neatly arranged cylindrical shafts common problem 2 problem effect

Possible Cause

Incorrect production recipe was used in the production interface. For example, the current workobject model should use production recipe 1, but production recipe 2 was applied in actual use.

neatly arranged cylindrical shafts common problem 2 reason effect

Solution

Make certain of the currently used workobject model, and then apply correct production recipe. For example, the currently used workobject model is model 1, then you should apply production recipe 1 that corresponds to workobject model 1.

neatly arranged cylindrical shafts common problem 2 solve effect

Problem 3: Abnormal Masks Obtained from Deep Learning

Symptom

The “Deep learning result” in the Production Interface showed mask abnormalities.

neatly arranged cylindrical shafts common problem 3 problem effect

Possible Causes

  • The setting of deep learning recognition region (2D ROI) was incorrect.

    neatly arranged cylindrical shafts common problem 3 reason effect 1
  • When acquiring a 2D image, the exposure time was not set properly, resulting in the 2D image being too bright or too dark.

    neatly arranged cylindrical shafts common problem 3 reason effect 2
  • A stable recognition of the current workobject using the deep learning model was not available.

Solutions

  • Reset 2D ROI. Ensure that the set ROI enclose the entire upper surface of the bin and there are as few interfering points in the ROI as possible.

    neatly arranged cylindrical shafts common problem 3 solve effect 1
  • Adjust the exposure time of the camera to ensure that the acquired 2D images are normal.

    neatly arranged cylindrical shafts common problem 3 solve effect 2
  • Acquire shaft image data to iterate your deep learning model. A normal deep learning recognition is shown in the figure below.

    neatly arranged cylindrical shafts common problem 3 solve effect 3

Problem 4: Path Planing Failure Resulting in Robot Colliding with Scene Object

Symptom

When using Mech-Viz to run the project, you were informed that “the path planning fails, and there is a collision with the scene object.”

neatly arranged cylindrical shafts common problem 4 problem effect

Possible Cause

The waypoints were not set up properly.

Solution

Review the plan history to check at which Step the collision occurred and then adjust the waypoints according to the site layout.

For example, in the Above-Bin Fixed Waypoint after Picking Step, the robot collides with the bin, as shown in the following figure.

neatly arranged cylindrical shafts common problem 4 solve effect 1

Then you should adjust the Above-Bin Fixed Waypoint after Picking Step to set the corresponding waypoints above the bin, as shown in the following figure.

neatly arranged cylindrical shafts common problem 4 solve effect 1

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