Select Configuration Workflow for Target Objects

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You can refer to the table below to learn about various workflows for target object configuration and choose the appropriate one based on the actual application scenario.

Basic operation procedure	Configuration workflow displayed in the software	Application scenario
Import STL file to generate point cloud model and configure pick points manually	Import STL model	The consistency between the point cloud acquired by the camera and the STL model file is high. The changes in the target object pose will lead to significant changes in the features on the target object’s point cloud. The surfaces of the target objects are reflective, and the missing areas in the point clouds vary between different objects. Such as randomly placed sheet metal parts and shafts.
Use a camera to acquire the point cloud, generate the target object model, and configure the pick point manually	Get point cloud by camera	There is no STL model or poor consistency between the acquired point cloud and the STL model file. There is no noticeable change in the surface feature point cloud of the target object. Such as turnover boxes and neatly arranged gearbox housings.
Generate point cloud model based on common 3D shapes, and configure pick point manually	Create common 3D shape	The shapes of the target objects to be recognized are relatively regular, matching cylinder or cuboid. Such as picking neatly arranged shafts, rings, and rectangular target objects, and picking randomly stacked shafts.
Set the pick points by jogging the robot, and generate the point cloud model based on the acquired point cloud	Jog robot and get point cloud	Scenarios requiring a high picking accuracy.
Import a processed point cloud to generate the point cloud model and pick points	Import processed point cloud	Scenarios with special requirements for preprocessing of point cloud models.
Target object configuration workflow when no point cloud model is required	No point cloud model required	Carton or sack depalletizing scenarios, and machine tending scenarios with partitions or bins.

Basic operation procedure

Configuration workflow displayed in the software

Application scenario

Diagram

Import STL file to generate point cloud model and configure pick points manually

Import STL model

The consistency between the point cloud acquired by the camera and the STL model file is high.
The changes in the target object pose will lead to significant changes in the features on the target object’s point cloud.
The surfaces of the target objects are reflective, and the missing areas in the point clouds vary between different objects.

Such as randomly placed sheet metal parts and shafts.

configuration workflows 1 1

configuration workflows 1 2

Use a camera to acquire the point cloud, generate the target object model, and configure the pick point manually

Get point cloud by camera

There is no STL model or poor consistency between the acquired point cloud and the STL model file.
There is no noticeable change in the surface feature point cloud of the target object.

Such as turnover boxes and neatly arranged gearbox housings.

configuration workflows 2 1

configuration workflows 2 2

Generate point cloud model based on common 3D shapes, and configure pick point manually

Create common 3D shape

The shapes of the target objects to be recognized are relatively regular, matching cylinder or cuboid.
Such as picking neatly arranged shafts, rings, and rectangular target objects, and picking randomly stacked shafts.

configuration workflows 3 1