Creating a Workspace
Last updated
Last updated
The workspace is defined as a cuboid and represents the region of interest for the vision system. Pick points are only allowed inside the chosen workspace when running the system.
The dimensions of the workspace are defined by the three parameters length x width x height (in meters), while the position is defined by the spatial center of the bin in relation to the robot base.
ID
Unique ID that is automatically generated by the system.
Name
User-defined name.
Outer dimensions
Dimensions of the workspace in meters.
Position
The origin of the generated cuboid is at the spatial center of the Workspace.
Rotation
The rotation part of the workspace’s pose is parameterized as a rotation vector, i.e., the rotation axis is defined by the direction of the vector and the rotation angle by its norm. The vector is given in radians.
Before using the workspace finder a hand-eye calibration has to be performed. In addition, the robot has to be connected to the robobrain®.
To simplify workspace definition, the user interface includes a tool for determining the workspace. The determine button opens the Workspace Finder, which can be used to determine the necessary information for a correct workspace definition based on a previously defined bin and automatically enter it in the input fields. The detection of the bin edge can clearly be seen in green color. In this example, the bin is located 2.5 cm below the robot base, hence the negative sign in the input mask.
The following parameters or selection options are decisive for the Workspace Finder:
Bin
Here you must select the previously defined bin for which the new workspace is to be created.
Inside Distance
This can be used to define the extent to which the work area is to be reduced inward. In the case of a bin with a 3 cm bin edge, the bin edge can be excluded from the region of interest.
Location
With this selection it must be determined how the bin is spatially oriented to the robot base. A more detailed explanation follows in the next section.
Z Parameter
This parameter defines a height difference between the camera and the top or bottom edge of the crate, depending on the selected position of the bin.
The bins can be arranged in two ways relative to the robot base:
horizontal
tilted
If the bin is on a parallel plane relative to the robot base. The height difference between the bottom of the bin and the robot is defined by the Z parameter.
If the plane on which the bin is located is below the robot’s base in terms of height and therefore in the negative z-direction, the z parameter must be given a negative sign.
If the bin is arranged at an angle to the robot base, the z parameter is used to define the distance between the camera and the top edge of the bin. For this setup the camera has to be parallel to the bin edge.
In order to define a workspace using the Workspace Finder, the camera should be located directly above the bin. After launching the Finder, the previously defined bin, which is currently in the image is first selected from the drop-down menu and the edge of the bin is entered as the inside distance. Afterwards, the position of the bin in relation to the robot base must be selected and the z-parameter must be adjusted accordingly. The Search button is used to search for the defined bin in the image and an interpretation of the bin is displayed for checking. With Apply the parameters and thus the workspace definition are taken over and the determined parameters are entered into the input mask. The defined workspace must be saved by clicking Save.
