Welcome to the learning guidance for sack depalletizing applications.
This post provides all the learning materials for implementing vision-guided robotic applications of sack 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 DEEP
Technical specifications: Mech-Eye DEEP
Set up the hardware of vision system
Recommended camera mounting mode: eye to hand (ETH)
Note: ETH here means that the camera is mounted on a fixed mounting frame or a slide on the frame.
| Camera mounting mode | Hardware setup tutorial | Camera cable information |
|---|---|---|
| ETH | How-to video: Vision System Hardware Setup How-to guide: Vision System Hardware Setup |
Camera cable features (to be added) |
| Guidelines for mounting camera cables (login is required) |
Set up communication with the robot
Perform hand-eye calibration
| A | Camera mounting mode |
|---|---|
| Eye to hand (ETH) | |
| 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 |
| Automatic calibration for 6-axis robots (Standard Interface communication) | How-to video: Hand-Eye Calibration in ETH Setup (Standard Interface Communication) How-to guide: Hand-Eye Calibration in ETH Setup |
| Automatic calibration for 4-axis robots (Master-Control communication) | How-to video: coming soon How-to guide: coming soon |
| Automatic calibration for 4-axis robots (Standard Interface communication) | How-to video: coming soon How-to guide: 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 |
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 sack depalletizing | Coming soon | Coming soon | Gripper model in a different format | Save data |
| Mixed-case sack depalletizing | Coming soon | Coming soon | 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 sack 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 sack depalletizing scenarios | Summary of robot communication issues (to be added) |
Application expansions
Fine-tune the super models for sacks
To be added
Adjust the orientation and sorting of sack 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
Save data
How-to video: coming soon
How-to guide: Save Data