3D Bin Recognition
Function Description
This step integrates vision-processing functions such as point-cloud preprocessing, 3D matching, and deep learning to quickly complete bin recognition.
Usage Scenario
This step is suitable for workpiece-picking scenarios where bin positions change. It is generally preceded by Capture Images from Camera and followed by pose-adjustment steps.
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Scenario 1
Bin positions vary during material feeding, but bins remain static during workpiece picking. In this case, recognition is required only once when each bin arrives for the first time, without repeated recognition, which effectively improves cycle time.
In this scenario, workpiece recognition and bin recognition can be performed in two separate vision projects, as shown below.
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Scenario 2
Bins may move during workpiece picking, or bin point clouds may interfere with workpiece recognition. In this case, both workpiece recognition and bin recognition should be performed simultaneously to update bin poses in real time and avoid bin-point-cloud interference during matching, thereby improving workpiece recognition stability.
In this scenario, bin recognition and workpiece recognition can be performed simultaneously in one vision project, as shown below.
Input and Output
Input
| Input Port | Data Type | Description |
|---|---|---|
Camera Depth Image |
Image/Depth |
Original depth image of bins. |
Camera Color Image |
Image/Color |
Original color image of bins. |
Output
| Output Port | Data Type | Description |
|---|---|---|
Bin Pose |
Pose[] |
Bin poses. |
Bin Name |
String[] |
Bin names. |
Bin Size |
Size3D[] |
Bin sizes. |
Internal Bin Depth Image |
Image[] |
Depth images inside bins. This port is added after selecting |
Internal Bin Color Image |
Image[] |
Color images inside bins. This port is added after selecting |
Internal Bin Surface Point Cloud |
PointCloud/XYZNormal[] |
Surface point clouds inside bins. This port is added after selecting |
Internal Bin Edge Point Cloud |
PointCloud/XYZNormal[] |
Edge point clouds inside bins. This port is added after selecting |
Parameter Description
| Parameter | Description |
|---|---|
Select Workpiece |
Description: Select workpieces to be recognized from the drop-down list. Workpieces need to be added in the configuration wizard in advance. Adjustment instruction: Click Configuration Wizard (or the Configuration Wizard button on the step block) to enter the 3D Bin Recognition Tool. For usage, refer to 3D Bin Recognition Tool. |
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If |