Material Frame and Target Collision Detection User Guide
The collision detection function is used to detect the collision between End-effector and Scene (material frame, ScenePoint Cloud), and filter the grabbing gestures that may collide. This article mainly introduces how to configure the Scene Object and adjust the related visual parameters after turning on collision detection.
1. Operation Guide
1.1 material frame detection
When there is a material frame in the actual Scene, when creating a new project, check the Material Frame and Target Collision Detection function; if it is not checked when creating a new project, in the Task Information Interface, click Edit on the lower right, then check Material Frame and Target Collision Detection and save
After checking Material Frame and Target Collision Detection, Scene Object will be added in the run configuration column. Fill in the outer wall length, width, height and thickness of the material frame in the Scene Object interface.
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- In Vision Parameter-3D Computing-Collision Detection, adjust the Parameter related to material frame detection. For details, please refer to 2.1 Material Frame Detection
Collision detection between 1.2 End-effector and Scene
In 3D calculation-collision detection, you can adjust the Parameter. For details, please refer to 2.2 Collision detection between material frame and tool.
2. Parameter Adjustment Guide
2.1 Material frame detection
Material frame extraction process:
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| function | Parameter | Description | Default value | value range | Parameter adjustment recommendation |
|---|---|---|---|---|---|
| material frame detection-fitting Threshold (m) | Fitting Threshold, based on the material frame size, determine whether the calculated material frame size is within the fitting Threshold | 0.005 | [0.001, 0.05] | between 0.003-0.01 | |
| material frame detection-score Threshold | The minimum score Threshold requirement for material frame detection. If the score is higher than Threshold, the material frame detection is considered successful. Otherwise, it fails. | 0.5 | [0.1, 1.0] | recommends 0.5 | |
| material frame detection-Fine matching attitude correction range (m) | When material frame is fine-tuned, the Point Cloud searches for the Threshold of the radius, and at the same time it is the distance Threshold for judging the correct point pair. The larger the value, the larger the search radius, and the more relaxed the conditions for judging the correct point pair. The default is 0.01, which generally does not need to be changed. | 0.01 | [0.001, 0.1] | generally does not adjust | |
| Frame Inspection - Frame downsampling quantity | material frame downsampling point value, used for Fine matching of the material frame. The larger the number of points, the faster the speed and the lower the accuracy. | 15000 | [5000, 30000] | is selected according to the accuracy requirements. The higher the accuracy requirements, the larger the number of points. | |
| material frame detection-using a priori size | Whether to calculate the material frame based on the prior size, if so, the material frame must satisfy the prior size and fitting Threshold, otherwise the maximum rectangle will be found as the material frame | Check | / | generally does not adjust | |
| material frame detection-select Point Cloud in the ROI area | Select Point Cloud in the ROI 3D area from the actual Point Cloud | Check | / | generally does not adjust | |
| material frame detection-filter out objects whose distance exceeds the limit Point Cloud-Threshold | specifies the axis | In the specified axis direction, based on 95% of the height of the Point Cloud of the material frame (the Point Cloud of the material frame from top to bottom is 100%~0%), remove the Point Cloud that exceeds the Threshold from top to bottom in the specified axis direction | Z axis | X/Y/Z axis | generally does not adjust |
| Threshold | Remove the Point Cloud that exceeds Threshold from top to bottom in the specified axis direction | 0.1 | [0.001, 1.0] | recommends between 0.005 - 0.2 | |
| Select coordinate system | specifies the coordinate system where the axis is located | ROI coordinate system | Camera coordinate system ROI coordinate system Object own coordinate system | generally does not adjust | |
| material frame detection-remove Point Cloud whose normal is greater than the angle Threshold | AngleThreshold | If the angle between the normal vector direction of the Point Cloud and the reference axis exceeds the angle Threshold, remove the point | 15 | [0, 360] | If the target plane is a flat surface, the angle Threshold is generally 5°~15°; if the target plane is a curved surface, the angle Threshold is usually 15°~30° |
| standard normal vector axis | reference axis (default Z axis, that is, vertical direction), an axis of the Camera coordinate system. | Z axis | X/Y/Z axis | generally does not adjust | |
| uses the ROI coordinate system | If checked, the ROI coordinate system will be used. If not checked, the Camera coordinate system will be used. | Uncheck | / | If the material frame is tilted, check the box to use the ROI coordinate system | |
| material frame detection-delete the point in the center area of the container | removal ratio | The ratio of the area of the center area to the area of the container, remove the Point Cloud in the center area, and retain the Point Cloud in the edge area | 25 | [0, 100] | Adjust according to the object area in the center area of the material frame |
| Is the X axis the long side? | If checked, the center area is calculated based on the length in the X-axis direction; if not checked, the length in the X-axis direction is compared with the length in the Y-axis direction, and the central area is calculated based on the longer side of the two. | Check | / | If the length in the X-axis direction is the long side, check it, otherwise do not check | |
| retains the Point Cloud in the ROI area of the material frame (TargetPoint Cloud processing) | Reduce/enlarge the outer wall length of the material frame (m) | When there is an error in the size of the material frame, causing a certain number of Point Clouds on the material frame wall to be retained, the Parameter needs to be reduced; or a certain number of Target Point Clouds are filtered out, and the Parameter needs to be enlarged. Negative numbers represent reduction, positive numbers represent enlargement. | 0.0 | [-1.0, 1.0] | generally does not adjust |
| Reduce/enlarge the outer wall width of the material frame (m) | When there is an error in the size of the material frame, causing a certain number of Point Clouds on the material frame wall to be retained, the Parameter needs to be reduced; or a certain number of Target Point Clouds are filtered out, and the Parameter needs to be enlarged. Negative numbers represent reduction, positive numbers represent enlargement. | 0.0 | [-1.0, 1.0] | generally does not adjust | |
| Keep Point Cloud (m) at a certain height above the frame opening | A space of a certain height above the frame opening can be set up. Point Cloud can be retained in the space to avoid the material frame overflowing the frame opening. | 0.0 | [0.0, 1.0] | generally does not adjust | |
Exception description:
No material frame detected
No material frame is detected, first check whether the input material frame size is correct, and secondly adjust Material Frame Detection-Fitting Threshold (m)
- Material frame detection score is too low
The material frame can be correctly identified, but the score is too low. You can relax the Material frame detection-Fine matching posture correction range (m)
- The material frame score is lower than Threshold
The material frame score is too low. If it is recognized normally, modify Material Frame Detection-Score Threshold, otherwise modify Material Frame Detection-Fine matching posture correction range (m)
2.2 Material frame and Targetcollision detection
| Parameter | Description | Default value | value range |
|---|---|---|---|
| material frame and Target collision detection-Scene collision detection mode | Select the Scene mode of collision detection. There are three modes: material frame only, TargetScenePoint Cloud only, material frame + TargetScenePoint Cloud | only material frame | only material frame, only TargetScenePoint Cloud, material frame + TargetScenePoint Cloud |
| material frame and Target collision detection-collision Threshold (mm) | Collision distance Threshold. If the distance between the Scene and the fixture surface is less than this Threshold, a collision will be considered. The larger the Threshold, the stricter it is. | 7 | 1 - 1000 |
| material frame and Target collision detection-collision Point Cloud sampling (mm) | collision Point Cloud sampling size; the larger the value, the faster the Cycle time, which means that the smaller the value, the slower the Cycle time; only effective in TargetScenePoint Cloud only and material frame + TargetScenePoint Cloud modes | 5 | 1 - 1000 |
| material frame and Target collision detection-execute collision along the top of the material frame | Whether to perform collision detection along the top of the material frame. If not checked, collision detection will be performed along the negative direction of the Pick PointZ axis, that is, the fixture may move diagonally upward with an angle; | Check | / |