Getting Started Tutorial: Vision-Guided Robotic Depalletizing (Master-Control Communication)

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In this tutorial, you will learn how to deploy a simple 3D vision-guided robotic application of depalletizing cartons in the Master-Control communication mode.

Application Overview

  • Camera: Mech-Eye DEEP camera, mounted in Eye to Hand mode

  • Robot: ABB_IRB_1300_11_0_9

  • Workpiece: single-case cartons

  • Used software: Mech-Vision 1.7.2, Mech-Viz 1.7.2, Mech-Center 1.7.2, and Mech-Eye Viewer 2.1.0

  • Communication mode: Master-Control communication

If you are using a different camera model, robot brand, or workpiece than in this example, please refer to the reference information provided in the corresponding steps to make adjustments.

Getting Started Tutorial: Vision-Guided Robotic Depalletizing Overview

Explanation of Terms

Pallet

A platform device used to hold goods (such as cartons)

Depalletizing

A task that a robot performs to disassemble objects from a pallet as required under the vision guidance

Palletizing

A task that a robot performs to place objects at specified positions on a pallet under the vision guidance

Single-case depalletizing

Depalletize single-case cartons (with the same dimensions) from a pallet

Mixed-case depalletizing

Depalletize single-case cartons (with different dimensions) from a pallet

getting started terms

How to Deploy a Vision Application?

The deployment of the vision application can be divided into five phases, as shown in the figure below:

getting start deployment

The following table describes the five phases of deploying a vision application.

No. Phase Description

1

Vision system hardware setup

Install and connect hardware of the Mech-Mind Vision System.

2

Robot communication setup

Load the robot master-control program and the configuration files to the robot system and set up the communication between the vision side and the robot, thus helping the Mech-Mind Software Suite obtain control over the robot.

3

Hand-eye calibration

Perform the automatic hand-eye calibration in the Eye-to-Hand setup, to establish the transformation relationship between the camera reference frame and the robot reference frame.

4

Carton locating

Use the case project “Single_Case_Cartons” to locate cartons and provide guidance for accurate robot picking.

5

Pick and place

Build the workflow for a Mech-Viz project to plan a collision-free robot path for picking and placing cartons.

Next, follow subsequent sections to complete the application deployment.

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