Parameter Adjustment in the Supermarket Scenario
In the supermarket scenario, the Supermarket_Seg_RGBSuction picking configuration folder should be used.
It is recommended to use a GeForce GTX 10 Series graphics card with a memory of at least or above 4G when you use the model for the medicine boxes scenario. When you run this Step for the first time, the deep learning model will be optimized according to the hardware type, and the one-time optimization process takes about 15 to 35 minutes.
Parameter Adjustment Order
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Set a Working Distance first to limit the range for the camera to capture the data.
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Adjust the Contour Detection (Smart Placement, Special Shape) parameter to determine whether to process objects whose contours are detected with priority.
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The objects in the supermarket scenario are usually stacked randomly, adjusting the Overlap Detection parameter group can divide the objects into objects that are overlapped and not overlapped.
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Adjust the Pose Processing parameter group to control the upward offset along the Z-axis to avoid damaging the object.
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Adjust the Suction Cup Configuration parameter group to divide the suction cups into sections.
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Adjust the Pose Sorting Logic parameter group to determine the picking sequence.
Parameter Description
Working Distance
- Minimum Working Distance
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Description: This parameter is used to specify the minimum distance (in millimeters) between the camera and the object in the scene. If a bin is used, this parameter should be the distance from the camera to the top edge of the bin. Please set the value according to the actual situation.
Default value: 0 mm
Value range: 0–3000 mm
- Maximum Working Distance
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Description: This parameter is used to specify the maximum distance (in millimeters) between the camera and the object in the scene. If a bin is used, this parameter should be the distance from the camera to the bottom edge of the bin. Please set the value according to the actual situation.
Default value: 3000 mm
Value range: 0–3000 mm
Contour Detection (Smart Placement, Special Shape)
- Prioritize Contours
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Description: This parameter is used to detect the contours of objects. The more complete the contour of an object is, the higher its priority for picking; the less complete the contour, the lower its priority for picking.
Default setting: selected.
Tuning recommendation: If the project does not have a high requirement for the overlap detection, you can enable this feature to increase the picking success rate and avoid changing bins frequently. If there is a high requirement on the overlap detection and only the objects that are NOT overlapped should be picked, it is recommended to disable this feature.
Overlap Detection
- Max Number of Objects
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Description: This parameter is used to specify the maximum number of objects that will be considered overlapped.
Default value: 6
Value range: 0–10
Tuning recommendation: Please set the parameter according to the actual situation.
Pose Processing
- Upward Offset along Z-Axis
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Description: This parameter is used to specify the offset distance (in millimeters) along Z-axis above the object to prevent the robot from squeezing the object .
Default value: 0
Value range: 0–10 mm
Tuning recommendation: Please set the parameter according to the actual situation.
Suction Cup Configuration
- Allocate by Mask Heftiness
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Description: This parameter is used to allocate objects to different groups according to the heftiness of their masks, and the suction cup configurations for each group are different.
Options:
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Default setting: Disable. Do not allocate objects to multiple groups according to the mask heftiness.
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Into Two Groups: Allocate the objects to two groups according to Heftiness Threshold 1.
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Into Three Groups: Allocate the objects to three groups according to Heftiness Threshold 1 and Heftiness Threshold 2.
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- Heftiness Threshold 1 / Heftiness Threshold 2
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Description: This parameter is used to set the heftiness threshold (in millimeters) for sorting masks.
Default value: 0 mm
Value range: 0–200 mm
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When Allocate by Mask Heftiness is set to Into Two Groups, you will need to set Heftiness Threshold 1. The allocation logic is as follows:
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If the mask heftiness of the object is less than Heftiness Threshold 1, the object will be put into the first group.
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If the mask heftiness of the object is greater than Heftiness Threshold 1, the object will be put into the second group.
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When Allocate by Mask Heftiness is set to Into Three Groups, you will need to set Heftiness Threshold 1 and Heftiness Threshold 2. The Heftiness Threshold 2 must be greater than Heftiness Threshold 1. The allocation logic is as follows:
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If the mask heftiness of the object is less than Heftiness Threshold 1, the object will be put into the first group.
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If the mask heftiness of the object is between Heftiness Threshold 1 and Heftiness Threshold 2, the object will be put into the second group.
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If the mask heftiness of the object is greater than Heftiness Threshold 2, the object will be put into the third group.
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- Allocate by Mask Span
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Description: This parameter is used to allocate objects to different groups according to the span of their masks, and the suction cup configurations for each group are different.
Options:
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Default setting: Disable. Do not allocate objects to multiple groups according to the mask heftiness.
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Into Two Groups: Allocate the objects to two groups according to Mask Span Threshold.
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- Mask Span Threshold
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Description: This parameter is used to set the span threshold (in millimeters) for sorting masks.
Default value: 0 mm
Value range: 0–200 mm
When the Allocate by Mask Span is set to Into Two Groups, you will need to set this parameter. The allocation logic is as follows:
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If the mask span of the object is less than Mask Span Threshold 1, the object will be put into the first group.
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If the mask span of the object is greater than Mask Span Threshold 1, the object will be put into the second group.
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Pose Sorting Logic
The detected poses in this Step will be sorted according to the pose score in descending order. Pose Score = Object Height × Pose Height Weight + Suction Cup Size × Suction Cup Size Weight + Object Length × Object Length Weight
- Pose Height Weight
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Description: This parameter is used to set the weight of the pose height when the score of a pose is calculated. If this weight is set to a larger value, objects that are at a high height will be more likely to be picked first.
Default value: 3
Value range: 0–5
- Suction Cup Size Weight
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Description: This parameter is used to set the weight of the suction cup size when the score of a pose is calculated. If this weight is set to a larger value, objects that should be picked with larger suction cups will be more likely to be picked first.
Default value: 1
Value range: 0–5
- Object Length Weight
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Description: This parameter is used to set the weight of the object length when the score of a pose is calculated. If this weight is set to a larger value, objects with longer lengths will be more likely to be picked first.
Default value: 1
Value range: 0–5
Visualization
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The Visualization parameter group is only used for selecting what will be displayed in the Debug Output window and will not affect the adjustment of the above parameters. |
- Enable
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Description: Once this option is selected, you can select the items you want to visualize in the Debug Output window.
Default value: selected.
- Visualization Type
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Description: This parameter is used to specify the items you want to visualize.
Options:
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Final Score
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Show Pose Height
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Show Suction Cup Diameter
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Show Object Length
Default value: Final Score
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This parameter will only be displayed after the visualization is enabled. |