Parameter Adjustment in the Logistics (Object Detection) Scenario¶

In the logistics (object detection) scenario, the Logistics_OD_RGBSuction picking configuration folder should be used. The model in this folder only predicts the position, size, and condition (overlapped or not) of the object in the image. Since object detection is not performed pixel-wise, the outer contour of the object cannot be obtained.

Parameter Adjustment Order¶

Set a Working Distance first to limit the range for the camera to capture the data.
The objects in the logistics scenario are usually stacked randomly, adjusting the Overlap Detection parameter group can divide the objects into objects that are overlapped and not overlapped.
Adjust the Special Shape Filter parameter group to filter out objects that are too slender or big to reduce the probability of picking failure.
Adjust the Pose Processing parameter group to control the upward offset along the Z-axis to avoid damaging the object.
Adjust the Dynamic Place parameter group to adjust the speed of the robot.
Adjust the Priority Picking Setting and Pose Sorting Logic parameter group to determine the picking sequence.

Parameter Description¶

Working Distance

Minimum Working Distance: Description: This parameter is used to specify the minimum distance (in millimeters) between the camera and the object in the scene. If a bin is used, this parameter should be the distance from the camera to the top edge of the bin. Please set the value according to the actual situation.

Default value: 0 mm

Value range: 0–3000 mm
Maximum Working Distance: Description: This parameter is used to specify the maximum distance (in millimeters) between the camera and the object in the scene. If a bin is used, this parameter should be the distance from the camera to the bottom edge of the bin. Please set the value according to the actual situation.

Default value: 3000 mm

Value range: 0–3000 mm

Overlap Detection

The common shapes of objects in the logistics scenario include box, envelope, and bag-shaped. You can set the rectangularity threshold for these 3 types of objects to determine whether the object to be picked is overlapped or not.

Max Number of Objects: Description: This parameter is used to specify the maximum number of objects that will be considered overlapped.

Default value: 6

Value range: 0–10

Tuning recommendation: Please set the parameter according to the actual situation.
Box Object Rectangularity Threshold: Description: This parameter is used to specify the rectangularity threshold for boxes. When the rectangularity of the box is lower than this threshold, the box will be considered to be overlapped, while a rectangularity higher than the threshold will be considered not overlapped.

Default value: 10%

Recommended value: 60%

Value range: 0–100%
Envelope Object Rectangularity Threshold: Description: This parameter is used to specify the rectangularity threshold for envelope-shaped objects. When the rectangularity of the envelope-shaped object is lower than this threshold, the object will be considered to be overlapped, while a rectangularity higher than the threshold will be considered not overlapped.

Default value: 10%

Recommended value: 75%

Value range: 0–100%
Bag-Shaped Object Rectangularity Threshold: Description: This parameter is used to specify the rectangularity threshold for bag-shaped objects. When the rectangularity of the bag-shaped object is lower than this threshold, the object will be considered to be overlapped, while a rectangularity higher than the threshold will be considered not overlapped.

Default value: 10%

Recommended value: 70%

Value range: 0–100%

Special Shape Filter

Parameters in this group are used to filter out objects that are too slender or big for a higher picking success rate.

Short Edge Length Lower Limit: Description: This parameter is used to set the minimum length (in millimeters) of the detected short edge. If the length of the detected object’s short edge is less than this value, the object will be filtered out.

Default value: 0 mm

Value range: 0–1500 mm

Tuning recommendation: Please set the parameter according to the actual situation.
Long Edge Length Upper Limit: Description: This parameter is used to set the maximum length (in millimeters) of the detected long edge. If the length of the detected object’s long edge is larger than this value, the object will be filtered out.

Default value: 1500 mm

Value range: 0–1500 mm

Tuning recommendation: Please set the parameter according to the actual situation.

Pose Processing

Max Number of Output Poses: Description: This parameter is used to specify the maximum number of output poses.

Value range: 0–20
Upward Offset along Z-Axis: Description: This parameter is used to specify the offset distance (in millimeters) along Z-axis above the object to prevent the robot from squeezing the object.

Default value: 0

Value range: 0–10 mm

Tuning recommendation: Please set the parameter according to the actual situation.

Dynamic Place

This parameter group can be used to determine the height of the robot end tool when the robot places the object according to the height of the object, and therefore the following two situations can be avoided.

If the robot drops the object at a very high height, the object may roll on the fast-running conveyor belt.

If the robot places the object at a very low height, the object may collide with the conveyor belt, and both the object and the conveyor belt may be damaged.

When the robot picks the object, it needs to determine the weight of the object. The algorithm in this parameter estimates the object’s weight according to its volume. If the robot picks a heavy object, and the robot is moving at a fast speed, the following consequences may occur:

The object cannot be picked successfully.

The picked object is thrown out.

The package of the object is torn, but the object is not picked up successfully.

2D Area Threshold: Description: This parameter is used to detect the area of the detected object. If the area of the detected object is larger than this value, the robot speed will be reduced when placing the object. When the area of the detected object is smaller than this value, the robot will place the object with the Robot Placing Velocity.

Value range: 0–10000000 px
Robot Placing Velocity: Description: This parameter is used to specify the speed when the robot places the object. When the area of the detected object is smaller than the set 2D Area Threshold, the robot will place the object with the speed set in this parameter.

Value range: 0–100%

Priority Picking Setting

Priority Picking Direction

Description: This parameter is used to set the direction in which the object will be prioritized for picking.

Value list:

Up

Down

Left

Right

Default value: Right

Pose Sorting Logic

The detected poses in this Step will be sorted according to the pose score in descending order.

Pose Score = Object Height × Pose Height Weight + Object Horizontal Position × Object Horizontal Position Weight + Rectangularity × Rectangularity Weight

Pose Height Weight: Description: This parameter is used to set the weight of the pose height when the score of a pose is calculated. If this weight is set to a larger value, objects that are at a high height will be more likely to be picked first.

Default value: 5

Value range: 0–5
Object Horizontal Position Weight: Description: This parameter is used to set the weight of the horizontal position when the score of a pose is calculated. If this weight is set to a larger value, objects that are close to the end in the Priority Picking Direction will be more likely to be picked first.

Default value: 1

Value range: 0–5
Rectangularity Weight: Description: This parameter is used to set the weight of the rectangularity when the score of a pose is calculated. If this weight is set to a larger value, objects with high rectangularity values will be more likely to be picked first.

Default value: 0

Value range: 0–5

Visualization

Note

The Visualization parameter group is only used for selecting what will be displayed in the Debug Output window and will not affect the adjustment of the above parameters.

Enable

Description: Once this option is selected, you can select the items you want to visualize in the Debug Output window.

Default value: Selected

Visualization Type

Description: This parameter is used to specify the items you want to visualize.

Value list:

Final Score

Show Pose Height

Show Suction Cup Diameter

Show Object Length

Default value: Final Score

Hint

This parameter will only be displayed after the visualization is enabled.

Others¶

Rectangularity: Rectangularity indicates the degree of similarity between the detected object and the rectangle. It can be calculated by dividing the size of the object by the size of its minimum bounding rectangle (the orange rectangle as shown below), and the value ranges from 0 to 1.