Mech-Vision 1.7.0 Release Notes¶
This document introduces the new features, improvements, and resolved issues of Mech-Vision 1.7.0.
New Features¶
New “Solution” Feature, Supporting Deploying Vision Applications Only with Mech-Vision¶
Mech-Vision 1.7.0 has introduced the solution function. A solution is a collection of functional configurations and data for robot, communication, vision processing, and path planning required for a vision application.
A solution consists of one or more projects. It is not recommended to continue using projects alone. Projects need to belong to the solution.
With the solution feature, you can finish the vision application deployment in one solution, including selecting the robot, configuring the communication with the robot, building the vision project, and planning the robot path.
Hint
For the project requirements of obtaining vision results and simple path planning, you can only use Mech-Vision software to complete all the application deployment.
When the Standard Interface or Adapter communication option is used, the Mech-Vision project ID called by the robot program will no longer be obtained from Mech-Center, but from the Mech-Vision project list.
For earlier Mech-Vision projects, you need to complete project migration after upgrading. For details, please refer to 1.7.0 Project Migration Guide.
Mech-Center’s Communication Service Being Integrated with Mech-Vision¶
Mech-Vision 1.7.0 has introduced the robot and interface communication function. With this function, you can select the robot, configure the communication without opening Mech-Center and finally allow Mech-Vision to communicate with external devices such as robots successfully.
After the interface communication service has been integrated with Mech-Vision 1.7.0, please note that:
If a Mech-Vision solution is used and Standard Interface is used for communication, you do not need to open Mech-Center anymore.
The interface service will be automatically started when you click the Robot and Interface Configuration button on Mech-Vision’s toolbar, select the desired robot, configure the communication option, and apply the configuration.
For ABB, FANUC, YASKAWA, KAWASAKI, KUKA, UR, TM, ELITE, JAKA robots, the software has configured the default communication settings same as those specified in the example programs provided by Mech-Mind for these robots. For robots of other brands, TCP/IP is selected by default.
When interface configuration is set, you can select the Auto enable interface service when opening solution option. When the solution is opened next time, interface service is started and the project is ready for the communication with the robot side.
Communication-related logs will be displayed on the Console tab of the Mech-Vision log panel.
When the Adapter communication is configured and the Adapter project folder is selected, the Adapter project folder will be copied into the solution folder.
If the Adapter program in the solution has been modified, you just need to reboot the Adapter program and the interface service for the modification to take effect.
You need to disable the Run Mech-Center at PC startup option for the Mech-Center software.
If you do not use the Mech-Vision solution, or Master-Control communication is used, you still need to use the Mech-Center software.
You need to open Mech-Center first, and then open Mech-Vision from Mech-Center. You can configure the communication in the same way as the previous version.
It is recommended to enable the Run Mech-Center at PC startup option for the Mech-Center software. Mech-Vision should be opened by Mech-Center.
Newly Added “Path Planning” Advanced Component¶
Mech-Vision 1.7.0 has introduced the Path Planning feature (Step), which plans and outputs the collision-free robot path based on the input vision points. This Step suits for metal workpiece loading and unloading scenarios, and can meet project requirements for simple path planning.
Newly Added “3D Workpiece Recognition” Advanced Component¶
Mech-Vision 1.7.0 has introduced the 3D Workpiece Recognition Step, which has integrated the vision processing functions such as point cloud preprocessing, 3D matching, and removing overlapped objects. It can significantly accelerate workpiece recognition. This Step suits for metal workpiece loading and unloading scenarios, and can recognize workpieces in different shapes and different stacking manners.
New “Welcome” Interface¶
Mech-Vision 1.7.0 has added the “Welcome” interface. It provides the software version information, links to help documents, and quick accesses to common operations.
Solution Library¶
Mech-Vision 1.7.0 has introduces the solution library feature. The solution library provides solution or project cases for five major application scenarios, namely workpiece loading, depalletizing and palletizing, locating and assembly, piece picking, and quality inspection. Also, example data is provided for learning. Beginners can select the desired project or solution according to the case introduction and pictures, and use it for deployment after simple modification.
Mech-Mind will expand the online solution library from time to time. You can always obtain the latest solution library data by one-click refreshing operation. You can download the project or solution as required.
New “General Workpiece Picking” Solution Template¶
Mech-Vision 1.7.0 has added the “General Workpiece Picking” solution template to the solution library. It can be used to recognize workpieces in different models and different stacking manners and guide the robot to pick workpieces without collision. You can build a 3D vision solution by using only four Steps. It is applicable to scenarios of workpiece loading and unloading for machine tool processing, and workpiece handling.
Algorithm Improvements¶
Mech-Vision 1.7.0 has added the following Steps to improve algorithms.
New Step |
Description |
This Step provides a lite version for Step 3D Fine Matching. It eases the parameter adjustment, matches the point cloud models with scene point cloud accurately, and outputs poses of target objects. |
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This Step removes the vision recognition result of overlapped objects according to user-defined rules. Compared with Step Remove Overlapped Objects, this Step accelerates the processing of the projection method. |
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Large Workpiece Measurement Procedures |
For the large workpiece measurement industry, several Procedures are provided to facilitate the rapid construction of simple measurement projects on site. |
This Step recognizes the pickable objects based on the 2D images and depth maps and outputs the corresponding pick points. |
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This Step is used to calculate the normals, estimate the edge of the object point cloud, and output the edge point cloud. |
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This Step is used to transform the input point clouds to the camera reference frame or the truss system reference frame and then output the transformed point clouds. |
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This Step is used to transform the input pose to the camera reference frame or the truss system reference frame and then output the transformed poses. |
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This Step is used to find the fit circle for the points in the input 2D image. It is generally used in measurement scenarios. |
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This Step is used to find the fit line for the points in the input 2D image. It is generally used in measurement scenarios. |
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This Step is used to calculate the pixel-wise coordinate of the intersection between two line segments. It is generally used to locate object feature points in measurement scenarios. |
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This Step is used to calculate the pixel-wise coordinate of the intersections between a circle and a line segment. It is used to calculate the pixel-wise coordinate of the intersections between a circle and a line segment. |
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This Step processes the shapes in the input binary images by the specified method. It is usually used to process object contours to facilitate various calculations in measurement scenarios. |
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This Step is used to fill the holes in the non-zero pixel regions in the input binary image. It is usually used for image segmentation. It obtains a complete image of the target area and avoids interference caused by missing images in the hole section. |
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This Step measures the clarity of the input images according to the specified method. It is usually used to assist the parameter and position adjustment of the camera in measurement scenarios. |
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After a color or gray image is input and a color space is selected, this Step will calculate the mean value, standard deviation, maximum, and minimum of the pixel values in the specified channel. It is generally used to evaluate the image color or grayscale in measurement scenarios. |
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This Step is used to detect edge points or edge point pairs along the vertical direction of an ROI that is usually elongated, and output the pixel-wise coordinates of edge points and distances of edge point pairs (if detecting edge point pairs). |
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This Step is used to assemble a new 2D pose list by taking the lists of X values, Y values, and Theta values (Theta represents the tilt angle) from the three input 2D shape information lists respectively. |
Adaption to LNX Cameras¶
Laser Profiler Step has added new camera type “LNXCamera” for supporting LNX cameras.
New Calibration Procedure for Truss Robots¶
Mech-Vision 1.7.0 has improved the calibration tool to add the calibration procedure for truss robots. It has designed a dedicated calibration procedure for truss robots, allowing you to complete hand-eye calibration for truss robots without complex settings.
In addition, Steps Transform Point Clouds for Truss and Transform Poses for Truss have been added for truss robots. In a Mech-Vision project, you need to use these steps to calculate dynamic extrinsic parameters.
New “Deep Learning Model Package Management Tool”¶
Mech-Vision 1.7.0 has added the Deep Learning Model Package Management Tool, which can be used to optimize the deep learning model packages used by Deep Learning Model Package Inference (Mech-DLK 2.2.0+) and Deep Learning Model Package CPU Inference Steps, and manage their operation modes, hardware types and status. In addition, this tool can also monitor the GPU usage of the IPC.
Improvements¶
Algorithm Improvements¶
Mech-Vision 1.7.0 has improved the following Steps.
Improved Step |
Description |
Model Package Settings and Defect Judgement Rules Settings (for defect inspection) parameter groups are added. |
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Deep Learning Model Package CPU Inference |
Model Package Settings parameter group is added. |
New outlier handling option is added. For detected outliers, you can select either Raise Error on Outlier or Record and Mark Outlier. When you select the “Record and Mark Outlier” method, the outlier in the output text file will be marked red. |
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The Calculate by Calibration option is added to calibrate based on input images and then calculate the physical distance based on the camera’s extrinsic and intrinsic parameters obtained during calibration. The calculation result using this method is more accurate. |
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DualThreshold and DynamicThreshold thresholding methods are added. |
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Parameter Starting Point of Each Stratum is added. It outputs the sorted data and indices according to the input layer interval and post data to sort. |
Step Removal¶
Mech-Vision 1.7.0 has removed the following obsoleted steps.
Category |
Removed Step |
2D Feature Detector-Others |
Detect Rectangles Given Corners and Sizes in Pixels |
2D General Processing-Others |
Place Polygons |
Deep Learning-Novel Objects Picking |
Calc Poses from Heat Map of Pickability, Predict Pick Points (Single Object Type) (Please use the new version of the step Predict Pick Points V2), Pixel-Wise Pickability Evaluation |
Measuring-3D Length/Distance |
Calc Distances from 3D Points to Intersection of Two Planes, Calc Distances from 3D Points to Plane |
Legacy |
Draw Info on Image (Please use the new version of the step Visualize Information on Image), Adjust Targets by Obstacles |
Pose-Adjust Translation & Orientation |
Adjust Targets by Obstacles V2 |
Others |
Detect Pickable Rectangles |
Improved Matching Model and Pick Point Editor¶
Mech-Vision 1.7.0 has improved the Matching Model and Pick Point Editor tool.
Improved the main interface to highlight the main functions and improve ease of use.
Improved the toolbar layout and adding the GIF tip.
Improved the workflow of “Capture point cloud” to support capturing edge point cloud.
Improved the unit selection for importing CAD files.
Removed Model Editor Tools (old)¶
In Mech-Vision 1.7.0, the Model Editor of old version has been removed. If you want to make a point cloud model and generate pick points, please use Matching Model and Pick Point Editor instead.
Improved Calibration Procedure for 6-axis Robots¶
Mech-Vision 1.7.0 has improved the calibration procedure for 6-axis robots.
For pre-calibration configuration, the functions of selecting the robot, robot integration, and connecting to the robot are added. You can establish the connection to the robot during pre-calibration configuration.
Scene Viewer (robot simulation interface) is added. During calibration, you can view the calibration path and the robot position in real time without opening Mech-Viz.
The interaction interface is improved to make the layout more reasonable and guide the calibration task more clearly.
Improved Parameter Recipe¶
Mech-Vision 1.7.0 has improved the parameter recipe function. Now, you can synchronize the current parameter settings of the current to the parameter recipe by just clicking the Update Parameter button.
Improved Project Configuration Pane¶
Mech-Vision 1.7.0 has improved the interaction design for the Project Configuration Pane. Canvas grid and alignment functions are added. You can choose whether to display the alignment grid according to your preference, adjust the reference lines, and drag aligned Steps.
Supporting Displaying Camera Custom Name¶
After a camera is connected by Mech-Vision, you can view the custom name and IP address of the camera by hovering the cursor over the camera ID.
Changed Global Default Length and Angle Units¶
The global default length and angle units have changed from “Use built-in units of Steps” to “mm” and “°”.
Supporting Updating Japanese and Korean Language Packs Online and Offline¶
Mech-Vision 1.7.0 supports updating the Japanese and Korean UI language packs online. In addition, you can obtain the offline Japanese and Korean UI language packs from Mech-Vision Technical Support and drop them into the software for update.
Resolved Issues¶
Solved Connection Issue with the “Capture Images from Camera” Step¶
Mech-Vision 1.7.0 has solved the issue that the Capture Images from Camera Step could not connect to Hikvision 2D cameras.
Solved the Issue with the “Camera 2D” Step¶
Mech-Vision 1.7.0 has solved the following device occupation issue with the Camera 2D :
After Step Camera 2D had connected to a camera, and then deleted it and added it back, warning “Device being occupied” would be prompted.
Solved the Issue with the “Calc Results By Python” Step¶
Mech-Vision 1.7.0 has solved the following issues of the Calc Results By Python Step.
This Step may stuck when the project is running.
When the data in PoseList format are merged, the quaternion sequence of the output pose is incorrect.
Solved the Issue with the “Adjust Poses” Step¶
Mech-Vision 1.7.0 has solved the crash issue caused by the Adjust Poses Step when the project was running.