维护

To keep picking accuracy from deteriorating over time, run infield verification periodically, and re-run hand-eye or robot calibration if verification or picking performance shows a problem.

现场标定

We advise running infield verification once or twice annually as a preventive measure. It is also good to monitor for picking accuracy or mispicks to check if picking performance deteriorates. Then, on such behavior, verify the camera for dimension trueness and correct for it if necessary. To read more about Infield correction, go to our 现场标定 page. Infield correction might require repeating the hand-eye calibration; see below.

手眼标定

If the picking accuracy starts to deteriorate, re-running hand-eye calibration might be necessary, in addition to infield verification and correction. For more details on hand-eye calibration, go to 手眼标定 page.

On-Arm Mounting

小技巧

Permanently mounting a Zivid calibration board (7x8 30mm, 300x300mm) in the scene allows for verifying camera dimension trueness as an automatic procedure, and without stopping the production. The same holds for performing hand-eye calibration; it can be done automatically, and without any mechanical changes to the cell.

Stationary Mounting

小技巧

在机器人法兰和夹具之间永久安装 ArUco 标记 可完全自动化执行手眼标定过程。其好处是无需停止生产即可执行手眼标定。

In addition, it is beneficial to have a system that allows quick mounting and dismounting of the Zivid calibration board (7x8 30mm, 300x300mm) on and from the robot. This allows one to perform infield verification and correction processes in addition to the hand-eye calibration process.

机器人标定

我们假设现场验证给出了良好的结果，并且您已经按照预生产准备期间相同的方式进行了手眼标定。如果您的手眼标定输出的残差结果很差，或者如果残差结果很好但机器人定位精度不高，那么您的机器人可能存在某些问题。在这种情况下，我们建议联系您的机器人供应商以获取有关执行机器人运动学标定和机器人校正零点的更多信息。

Firmware Update

Each Zivid SDK version is matched with a specific camera firmware version. Whenever you upgrade the SDK, you must also update the camera firmware so that the two stay compatible.

For more details, see 固件升级.