单品拣选教程
Piece Picking, also known as Item Picking or Order Picking, is a process of automated order fulfillment in the logistics industry. Go to our Piece Picking page to read more about it, confirm it is your application of interest and to understand why Zivid cameras are a good fit. In piece picking applications, vision and software enable a robot to pick objects from a bin. If you want to learn how to get the maximum out of a Zivid camera for piece picking, then this tutorial is for you.
应用要求
在应用要求部分，我们提供了关于单品拣选中的典型场景和对象的概述，这些场景和对象对成像和获取良好的2D和3D数据具有挑战性。我们解释了相机需要看到哪些基本对象特征才能成功检测和分割感兴趣的对象。我们还讨论了2D和3D数据质量与夹具顺应性和运动规划及碰撞规避功能的关联。
➥ 应用要求
相机选择器
The section Camera Selector based on Scene Volume provides detailed guidance on which Zivid camera model to select. We cover the typical type and size of bins in the scene and important considerations for stationary and on-arm camera mounting. This includes, for example, robot clearance distance for stationary mounting and the distance between the gripper tip and the camera for on-arm mounting.
正确定位
在正确定位章节，我们介绍了如何优化相机的定位以获得最佳成像效果。
➥ 正确定位
2D-3D 策略
通常对于单品拣选应用而言，2D彩色图像和3D点云都是必要的，所以我们有一个关于2D-3D捕获策略的章节。
We explain and emphasize the pros and cons of different 2D-3D capture approaches, clarify some limitations, and explain how they affect cycle times.
设置选择器
本章节根据您从触发采集到获得点云的时间预算，提供有关最佳相机设置的详细指导。在这里，我们还需要考虑您PC的规格，因为数据传输和点云处理速度取决于此。我们解释了如果优化3D捕获的设置以获得良好的点云，以及优化2D捕获的设置以获得良好的彩色图像。
优化机器人周期时间
在本节中，我们将解释如何通过使用多线程来优化机器人周期以提高速度。重点是规划机器人运动以及捕获和处理点云以获得拾取位姿的最佳实践。我们同时涵盖了固定安装和手臂安装的应用。
备注
尽管视频显示的是包裹分拣，而不是单件拣选，但它展示了优化的机器人循环时间。
作业的准备工作
The following section covers machine vision processes to help you prepare your camera for production. We include camera warm-up, infield verification and correction, and color calibration, some of which we advise doing before deploying the camera, as well as hand-eye calibration, which is an essential process. We also cover downsampling, transforming, and ROI BOX filtering of the point cloud to reduce the number of points and thus reduce the processing time on your side.
➥ 生产准备过程
维护
最后，维护部分涵盖了我们建议执行的特定流程，以确保您的单品拣选机器人单元能够稳定工作，并实现最短的停机时间。
➥ 维护
点击以下链接继续阅读 应用要求 。