3D Location : Locate using a Laser

• Automate parts picking tasks even for complex parts arranged randomly
• Guarantee a steady and constant cycle (4 to 12 seconds per part picked depending on the size of the robot, the general configuration and whether or not scanning in hidden time …)
• Guarantee a precise and repeatable positioning of the parts picked (about 0.1 mm to 0.5 mm depending on the size of the part)

In the case of a path-planning process for bin-picking, the sensor scans the volume of work of a bin for example, then matches the CAD model with the 3D cloud of points. 3 steps are then run to localize the part :

• Localization : the sensor detects several parts in the bin, that matches with the CAD model of the original part. Sometimes, the sensor detects a lot of parts that are not available to grab, hence the following two steps.
• Overlapping : the algorithm checks if there is any other part overlapping the one located, for the robot to have a clear path to pick it. With the eyesberg3D software, it is possible to change the settings and put an accurate percentage of the part you need to locate. Once it is settled, it is easier to identify the parts in the bin.
• Collision : the last step before allowing the robot to pick the part is the collision aspect. Even though the part is localized and not overlapped by another part in the part, it is sometimes not possible to pick it because of a potential collision with the bin itself or something else in the surroundings. For the gripper or the robot arm not to break during the task, the algorithm checks if there will be any collision with the robot path from the beginning to the end. Once everything is cleared, the part can be successfully picked from the bin.

 

The 3D Location process is a key element of any 3D vision application, would it be bin-picking, inspection, identification or robot guidance. The part has to be rightly located for the task to be completed. This is a crucial first step.