System Testing and Adjustment
After setting the point cloud model and pick point, first run the project in Mech-Visionproject for tests to ensure stable matching and accurate output of target object poses. Once the run test in Mech-Vision is successful, proceed with the actual picking run test.
Mech-Vision Run Test
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Randomly place target objects within the camera’s field of view.
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Open the Mech-Vision solution.
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Ensure that the point cloud model of the current target object has been loaded to the Step related to 3D matching.
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Click Run to run the Mech-Vision project.
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Check the output of the Step related to 3D matching to view the matching effect. If the matching is not good, adjust the parameters of the Step.
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Adjust the placement of the target object based on actual conditions and repeat steps 4 and 5 until a stable matching result is achieved.
Once you confirm that the Mech-Vision project can achieve stable matching and output the target object poses reliably, proceed with the picking test.
Picking Test
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Randomly place target objects within the camera’s field of view.
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Start the robot program on the robot teach pendant side.
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Observe the picking situation of target objects.
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After a period of tests, if the picking is accurate and stable, the picking test is over. If the picking is inaccurate or unstable, perform the following checks:
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Check and ensure that the point cloud model of the current target object has been loaded to the Step related to 3D matching.
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Check and ensure that the pick point has set properly.
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Check and ensure that the Step parameters are set properly in Mech-Vision.
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