Welcome to the learning guidance for carton depalletizing applications.
This post provides all the learning materials for implementing vision-guided robotic applications of carton depalletizing.
First, you can learn how to deploy a carton depalletizing application by referring to Video Tutorials: Carton Depalletizing (Master-Control Communication). Next, 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 DEEP
Technical specifications: Mech-Eye DEEP
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 |
|---|---|---|---|---|
| Single-case carton depalletizing | Coming soon | Carton Locating | Gripper model in a different format | Pick multiple cartons at a time |
| Mixed-case carton depalletizing | Coming soon | Coming soon | Offset suction cups for carton picking | |
| 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 carton 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 carton depalletizing scenarios | Summary of robot communication issues (to be added) |
Application expansions
Fine-tune the super models for cartons
To be added
Adjust the orientation and sorting of carton 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
Offset suction cups or pick multiple cartons at a time
| Suction cup offset | |
|---|---|
| Single-pick | How-to video: coming soon How-to guide: Depalletizing Vacuum Gripper (Single Pick) |
| 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