Project Execution Slowed down Once “Remove Point Cloud of Target Workobject” Was Selected in the “Vision Move” Step
Symptom:
Once the Remove Point Cloud of Target Workobject parameter was selected in the Vision Move Step, the execution speed of the Mech-Viz project slowed down, which might take several tens of seconds or even longer.
Affected Software Versions:
All versions
Possible Causes:
In the Collisions functional panel of Mech-Viz, Detect collision between point cloud and others under Configuration on point cloud is enabled in the Collision Detection Configuration window. Once the Remove Point Cloud of Target Workobject parameter was selected in the Vision Move Step, the point cloud of the target object will be removed from the original point cloud received by Mech-Viz. The calculation of removing the point cloud is time-consuming. If a large number of target objects are identified, and the planning for picking different target objects always fails, the software will perform multiple calculations to remove the point cloud of different target objects, resulting in a slowdown in project execution speed.
Solutions:
Only when there is a definite collision between the tool and the object to be grasped, resulting in a collision detection alarm, should the Remove Point Cloud of Target Workobject parameter be selected.
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In scenarios where it is not necessary to select this parameter, deselect it.
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When using vacuum grippers for carton depalletizing, the vacuum gripper will always be in close contact with the carton to be picked. To avoid false alarms caused by the detection of collisions between the tool and the carton to be picked, the Remove Point Cloud of Target Workobject parameter must be selected, and the following methods can be used to improve the cycle time:
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Use the Down-Sample Point Cloud Step to down-sample the point cloud in Mech-Vision.
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Use 3D ROI to filter out irrelevant point cloud in Mech-Vision.
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Use the Adjust Poses V2 Step in Mech-Vision to sort and filter the poses. Therefore, the poses that are likely to result in successful picking can be used first, and the number of point clouds of the target objects sent to Mech-Viz can be limited.
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