Learning Guidance for “Turnover Box Depalletizing” Application Scenarios

Welcome to the learning guidance for turnover box depalletizing applications.

This post provides all the learning materials for implementing vision-guided robotic applications of turnover box depalletizing.

You can find the needed videos and documents on this page according to your robot brand, camera mounting mode, and communication mode.

If you have not yet determined the camera mounting mode and communication mode, please refer to Guidance of Docs and Tutorials.

Select the camera model

Recommended camera model: Mech-Eye LSR L
Technical specifications: Mech-Eye LSR L

Set up the hardware of vision system

Camera mounting mode Hardware setup tutorial Camera cable information
Eye to hand (ETH) How-to video: Vision System Hardware Setup
How-to guide: Vision System Hardware Setup
Camera cable features (to be added)
Eye in hand (EIH) Coming soon Guidelines for mounting camera cables (login is required)

Set up communication with the robot

Perform hand-eye calibration

Camera mounting mode
Eye to hand (ETH) Eye in hand (EIH) Eye to eye (ETE)
Automatic calibration for 6-axis robots (Master-Control communication) How-to video: Hand-Eye Calibration in ETH Setup (Master-Control Communication)
How-to guide: Hand-Eye Calibration in ETH Setup
How-to video: coming soon
How-to guide: Hand-Eye Calibration in EIH Setup
How-to video: coming soon
How-to guide: Hand-Eye Calibration in ETE Setup
Automatic calibration for 6-axis robots (Standard Interface communication) How-to video: coming soon
How-to guide: Hand-Eye Calibration in ETH Setup
How-to video: coming soon
How-to guide: Hand-Eye Calibration in EIH Setup
Automatic calibration for 4-axis robots (Master-Control communication) Coming soon Coming soon
Automatic calibration for 4-axis robots (Standard Interface communication) Coming soon Coming soon
Manual calibration (using multiple random calibration board poses method) How-to video: coming soon
How-to guide: Manual Hand-Eye Calibration in ETH Setup
How-to video: coming soon
How-to guide: Manual Hand-Eye Calibration in EIH Setup

For information about the calibration boards, see Calibration board info.

Configure vision project

Application scenario Camera parameter adjustment Vision recognition Common issues in implementation Extended requirements
Open-lid turnover box depalletizing Coming soon Coming soon Gripper model in a different format Pick multiple turnover boxes at a time
Closed-lid turnover box depalletizing Coming soon Coming soon Save data
More content to be added…

Perform picking

Master-Control communication Standard Interface communication Common issues in implementation
Use Mech-Viz to control robot motion Use Mech-Vision for vision recognition and get vision points from it A different data format used by the robot
Use Mech-Vision for path planning and get the planned path from it (supported in V1.8.0) Robot not adapted to the vision system yet
Use Mech-Viz for path planning and get the planned path from it More content to be added…

Troubleshooting

Camera-related issues Vision-related issues Communication-related issues
Camera cannot be connected (login is required) Common issues in the single-case depalletizing scenarios (to be added) Issues with Standard Interface communication
How to determine whether the exposure is proper (login is required) Common issues in the mixed-case depalletizing scenarios Summary of robot communication issues (to be added)

Application expansions

Adjust the orientation and sorting of turnover box poses

How-to topic for pose editor (coming in V1.8.0)

Make suction cup model in OBJ format

How-to topic for model editor (coming in V1.8.0)

Set the tool and workobject symmetry

Rotational Symmetry of the Tool
Rotational Symmetry of the Workobject

Configure collision detection

Collision Detection Introduction and Configuration

Pick multiple trunover boxes at a time

Suction cup offset
Multi-pick How-to video: coming soon
How-to guide: Depalletizing Vacuum Gripper (Multi-Pick)

Save data

How-to video: coming soon
How-to guide: Save Data