2D Target Object Recognition

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Function Description

This step integrates vision-processing functions such as image preprocessing, 2D feature extraction, template matching, and deep learning to quickly complete workpiece recognition and inspection.

Usage Scenario

This step is suitable for four major scenarios: positioning and picking, placement correction, error-proofing inspection, and information reading. It can flexibly handle different workpiece types, placement methods, and inspection requirements. It is typically used together with the 2D Smart Camera step.

Input and Output

Input

Input Port	Data Type	Description
Camera Color Image	Image/Color	Original color image of workpieces.

Input Port

Data Type

Description

Camera Color Image

Image/Color

Original color image of workpieces.

Output

Output Port Data Type Description

Output Port	Data Type	Description
Workpiece Name	String []	Workpiece names.
Recognized Pose	Pose []	3D picking poses in robot coordinate system.
Matching Score (Optional)	Number []	Used to evaluate quality of matching results.
Blob Mask (Optional)	Image/Color/Mask	Blob mask image.
Classification Judgment Result	String []	Classification judgment result, OK or NG.
Classification Status (Optional)	Bool []	Indicates whether classification succeeds. `true` for success, `false` for failure.
Classification Confidence (Optional)	Number []	Confidence of each classification result.
Inspected Image (Optional)	Image []	Image with inspection results.
Deformation Judgment Result	String	Deformation judgment result, OK or NG.
Deformation Check (Optional)	Bool	Indicates whether workpieces pass deformation inspection. `true` for pass, `false` for fail.
Deformation Confidence (Optional)	Number	Confidence of workpiece deformation. Higher confidence indicates smaller deformation.
Deviation Judgment Result	String	Deviation judgment result, OK or NG.
Deviation Check (Optional)	Bool	Indicates whether workpieces pass deviation inspection. `true` for pass, `false` for fail.
Angle Deviation (Optional)	Number	Rotation-angle deviation of workpieces relative to template.
Center Point X Offset (Optional)	Number	X-direction offset of workpiece center relative to template center.
Center Point Y Offset (Optional)	Number	Y-direction offset of workpiece center relative to template center.
Quantity Judgment Result	String	Used to determine whether the number of matching results is within expected range, OK or NG.
Quantity Check (Optional)	Bool	Indicates whether matching quantity meets expectations. `true` for meeting expectations, `false` otherwise.
Number of Matching Results (Optional)	Number	Number of matching results.
1D/2D Code Content	String	Recognized content of 1D/2D code.
1D/2D Code Verification Result	Bool	Indicates whether 1D/2D code verification passes. Outputs `true` for pass, otherwise `false`.
1D/2D Code Position (Optional)	Shape2D/Contour	Position of 1D/2D code in the image.
Recognition Result	String []	Character recognition results.
Recognition Judgment Result (Optional)	String []	Recognition judgment result, OK or NG.
Recognition Status (Optional)	Bool []	Indicates whether recognition succeeds. `true` for success, `false` for failure.

Workpiece Name

String []

Workpiece names.

Recognized Pose

Pose []

3D picking poses in robot coordinate system.

Matching Score (Optional)

Number []

Used to evaluate quality of matching results.

Blob Mask (Optional)

Image/Color/Mask

Blob mask image.

Classification Judgment Result

String []

Classification judgment result, OK or NG.

Classification Status (Optional)

Bool []

Indicates whether classification succeeds. true for success, false for failure.

Classification Confidence (Optional)

Number []

Confidence of each classification result.

Inspected Image (Optional)

Image []

Image with inspection results.

Deformation Judgment Result

String

Deformation judgment result, OK or NG.

Deformation Check (Optional)

Bool

Indicates whether workpieces pass deformation inspection. true for pass, false for fail.

Deformation Confidence (Optional)

Number

Confidence of workpiece deformation. Higher confidence indicates smaller deformation.

Deviation Judgment Result

String

Deviation judgment result, OK or NG.

Deviation Check (Optional)

Bool

Indicates whether workpieces pass deviation inspection. true for pass, false for fail.

Angle Deviation (Optional)

Number

Rotation-angle deviation of workpieces relative to template.

Center Point X Offset (Optional)

Number

X-direction offset of workpiece center relative to template center.

Center Point Y Offset (Optional)

Number

Y-direction offset of workpiece center relative to template center.

Quantity Judgment Result

String

Used to determine whether the number of matching results is within expected range, OK or NG.

Quantity Check (Optional)

Bool

Indicates whether matching quantity meets expectations. true for meeting expectations, false otherwise.

Number of Matching Results (Optional)

Number

Number of matching results.

1D/2D Code Content

String

Recognized content of 1D/2D code.

1D/2D Code Verification Result

Bool

Indicates whether 1D/2D code verification passes. Outputs true for pass, otherwise false.

1D/2D Code Position (Optional)

Shape2D/Contour

Position of 1D/2D code in the image.

Recognition Result

String []

Character recognition results.

Recognition Judgment Result (Optional)

String []

Recognition judgment result, OK or NG.

Recognition Status (Optional)

Bool []

Indicates whether recognition succeeds. true for success, false for failure.

Parameter Description

Parameter	Description
Configuration Wizard	Entry of the 2D Target Object Recognition Tool. Click this button to open the tool and perform related configuration.
Select Workpiece	Used to select workpieces to be recognized from the drop-down list. Workpieces need to be added in the configuration wizard in advance.

Parameter

Description

Configuration Wizard

Entry of the 2D Target Object Recognition Tool. Click this button to open the tool and perform related configuration.

Select Workpiece

Used to select workpieces to be recognized from the drop-down list. Workpieces need to be added in the configuration wizard in advance.

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