Roboception - LoadCarrier

This command can be used to perform a LoadCarrier detection command by Roboception. The command locates the requested LoadCarrier in 3D-Space and retrieves its pose in either the robot’s or camera’s coordinate system [1]. The estimation of filling levels is not part of this command.

Warning

In contrast to all other object detection commands, the LoadCarrier command returns the object pose without an option to define a grasping pose. Please note that the z-axis of the load carriers points upwards and thus the orientation of move commands has to be adjusted.

Parameterization panel

The following section describes how to parameterize the command while being in the Modify mode. Navigation between the different setup panels can be done by pressing the belonging tab in the HMI (Fig. 25/➊).

Configuration

Camera Pipeline:

The pipeline ID of the camera to use (Fig. 25/➋).

Target Coordinate System:

The retrieved grasp pose is stored inside the configured User CS. Afterwards a motion command can be applied with regard of the configured User CS (Fig. 25/➌).

Load Carrier ID:

ID of the load carrier which should be detected (Fig. 25/➍).

Robot Synchronization:

Sync (default): The detection is only executed after the robot has finished its latest movement command. Async (for experts only): The detection is executed asynchronous to the movement of the robot. Should only be used if currently enqueued movement commands can not interfere with the detection (Fig. 25/➎).

Region of Interest Filter:

Selects whether to use 3D or 2D Region of Interest as additional input. The input field of (Fig. 25/➐) will change depending on the selected Region of Interest type (Fig. 25/➏).

3D Region of Interest ID:

(Optional): The ID of the 3D Region of Interest defined within Roboception’s GUI (Fig. 25/➐).

2D Region of Interest ID:

(Optional): The ID of the 2D Region of Interest defined within Roboception’s GUI (Fig. 25/➐).

Fig. 25 Configuration of the LoadCarrier command.

Last Detection

Snapshot of the last result image retrieved by the Roboception camera (Fig. 26).

Fig. 26 Image of the last detection tab of a LoadCarrier command.

Runtime behavior

Once configured, the application can be executed. In case that at least one object was found, the selected Target Coordinate System will be set to the best detection instance and the SUCCESS branch will be executed, otherwise the ELSE branch is executed. The detection result can be reviewed inside the Last Detection panel by clicking at the command in Modify mode. In order to move with regard to the detected object, a Move To command can be added to the SUCCESS branch. The chosen coordinate system should match the Target Coordinate System configured in the detection command.

Errors

For the documentation of raised error codes see the Roboception’s rc_cube manual: https://doc.rc-cube.com/latest/en/loadcarrier.html

[1]

Currently, retrieving the pose is only supported in the robot’s coordinate system within the voraus software.

Python API

The command triggers a detect_load_carriers() method call and stores the result in a local variable called cad_detect_result. For advanced post-processing of the detection result, access this variable in a Run Script command.