Safe Picking from the Box with 3D Sensors
The 3D sensors of the M3DS series are suitable for bin picking applications, i.e. the picking of components from containers that are stationary in front of the robot. The sensors project structured light patterns onto the components to be detected in the container. A camera integrated in the sensor captures these light patterns and generates a 3D point cloud from them. The advantage lies in the high resolution combined with a large processable dynamic range of the components. The result is stable, high-resolution 3D point clouds, even on black, glossy or changing surfaces. This makes it possible to detect even the finest of structures on components.
The 3D sensors offer high point density for small objects and deliver a high-resolution 3D point cloud even on black and glossy surfaces.
The sensors can be mounted either on the robot or stationary above the load carrier and are suitable for Euroboxes, pallets and mesh boxes.
M3DS Series 3D Sensors for Precise Bin Picking Applications
The camera-based 3D sensors included in the M3DS series work in accordance with the structured light principle. Variants with 5 MP or 12 MP as well as different measuring ranges enable the detection of different container and object sizes. Two reconstruction methods allow the recording to be aligned to either high precision or a large dynamic range, depending on the application.
- Measuring volume from 70 × 50 × 50 mm to 1,330 × 1,040 × 1,000 mm
- Output of intensity and confidence image
- Fast 3D point cloud generation in up to 300 ms
- Point cloud calculation and filtering directly in the sensor
- GenICam standard as a uniform interface
- SDK for Windows and Linux
- Fast data exchange via 1/10 Gigabit Ethernet interface
- Web browser-based visualization software
Process Flow for Bin Picking
Mechanical Layout
The M3DS series sensors can be mounted either static above the tank or directly on the robot. For static mounting, the M3DS series offers working distances of up to 1.75 m. The distance between the 3D sensor and the upper edge of the container allows the robot sufficient freedom of movement for the gripping process. When mounted on the robot, sensor variants with different measuring ranges and working distances are available, which can be adapted to the respective container size and the required movement space.
Recording 3D Data
The sensor captures the components in the vessel and generates a high-resolution 3D point cloud of the entire vessel volume. The two reconstruction methods allow adaptation to different object geometries and surface properties. As a result, the sensor delivers stable 3D data even on glossy, rusty, oily or reflective surfaces.
Evaluation and Gripping Point Calculation
The 3D data is transferred to the machine vision software via GenICam or the SDK. The position and orientation of the objects are determined in six degrees of freedom, parts are detected and possible collisions are taken into account. Based on this data, the software calculates suitable gripping points so that the robot can pick up the parts in a targeted manner. The integrated point cloud generation and filtering reduces processing effort and enables short cycle times and high extraction rates.
Mounting Options for 3D Sensors in Bin Picking Applications
Sensor on the Robot (Eye-in-Hand)
The compact format and low weight of the M3DS1 series allows direct installation and transportation on the robotic arm. The shorter working distances ensure greater detail accuracy, shorter reach distances and a more compact overall system. To ensure safe gripping, challenging parts can be scanned from multiple directions. This method is typically used for objects with a specific gripping position.
Advantages of mounting on the robot:
- Compact system feasible
- Ideal for small and complex parts
- Dynamic detection from overview to single part
Sensor Above the Load Carrier (Eye-to-Hand)
The sensors of the M3DS2 series offer a resolution of 5 MP, so that all parts in the load carrier can be captured with just one scan. Based on this information, the software determines the part to be removed. The high resolution of the 3D point cloud also enables reliable detection of small components.
Advantages of fixed sensor mounting:
- Full robot capacity and faster gripping
- Scanning during robot movement and reduced vibration risk
- Recording of several components in a single scanning process with subsequent gripping
Measuring Ranges of 3D Sensors
Bin Picking Applications Comparison
Bin picking in factory automation
- Detection of the location and position of objects (e.g. CAD match)
- Large working volumes up to 1,330 × 1,040 × 1,000 mm
- Large working distance
- Suitable for mesh boxes
- Longer cycle times
- Identical, complex object shapes at one station
- Stable absolute measurements
Bin picking in intralogistics
- Detection of surfaces for picking with suction gripper
- Working volumes up to 760 × 560 mm
- Average working distance
- Suitable for Euroboxes
- Shorter cycle times
- A wide variety of object shapes and surface properties at a station
