遮挡计算器

In any triangulation based 3D vision system occlusion can occur. For guidance on positioning the camera to minimize occlusion in a real setup, see the positioning pages for bin-picking, piece-picking, and depalletization.

Occlusion from Object Height

Occlusion can also occur from the height of an object itself, independent of any bin wall or divider. In the illustration below, the taller blue object hides the shorter orange object.

Whether a tall object occludes its neighbors depends on several factors: where it sits along the camera's horizontal axis, its height, and its distance from the camera. The camera's baseline also plays a role.

Occlusion from Multiple Bins

在固定安装的料箱拣选或单品拣选应用中，料箱侧壁或隔板会造成这种情况。如果相机正在对两个隔离的空间成像，则可以通过将相机基线与共享的侧壁或隔板对齐来避免遮挡。如果有两个以上的隔间，则不可能进行这种对齐。例如：

从超过2个箱子中抓取物体
从有2个或更多隔板的箱子中抓取物体

基线越大 ➞ 遮挡问题越严重

2个箱子，可忽略不计的遮挡

4个料箱，遮挡无法避免

下面的计算器显示了单个箱壁或隔板的遮挡效果。相机被直接放置在箱壁上方，以尽量减少最坏情况下的遮挡问题。您可以看到遮挡在箱壁的两侧是对称的。

How does the calculator work?

The calculator computes occlusion as bin_depth * tan(atan(baseline / 2 / distance_to_bin)).

baseline is the camera's baseline in mm.
distance_to_bin is the distance from the camera to the top of the bin in mm.
bin_depth is the depth of the bin (or divider height) in mm.

The 2D camera and projector each sit offset from the camera's center by half the baseline. With the camera centered above the shared wall, the one further from a given side is the one whose view over that wall is blocked first, so its offset (half the baseline) sets the occlusion angle on that side. The examples below use this formula directly, with real camera baselines and the calculator's own AutoStore bin depths.

Camera	Baseline	Bin depth	Distance to top	Occlusion	Note
Zivid 2+	110 mm	200 mm (Small AutoStore)	500 mm	Approximately 22.0 mm	A shorter camera-to-bin distance increases occlusion even with a shallower bin.
Zivid 2+	110 mm	330 mm (Medium AutoStore)	1000 mm	Approximately 18.2 mm
Zivid 3 XL250	250 mm	425 mm (Large AutoStore)	1000 mm	Approximately 53.1 mm	At the same 1000 mm distance, the larger baseline accounts for most of the increase in occlusion from the row above; the deeper bin adds comparatively little on its own.