3D sensors and Scanning profiles

This page provides information about the Photoneo 3D sensors supported for use with the Bin Picking Studio and the Locator Studio and the scanning configurations.

Each vision system is associated with exactly one 3D sensor with the expection of MultiView approach available for CAD localization engine where mutliple statically mounted sensors can be used by the same vision system.
The same 3D sensor can be associated with multiple vision systems - this is usually the case when utilizing the hand-eye approach or when a statically mounted 3D sensor is able to cover multiple bins/pallets/etc.

1 Vision system configuration

The first parameter of the vision system configurattion related to the sensor is the selection of the Calibration space and scanner position:

  • Robot space, external fixed scanner position (Extrinsic calibration)

  • Robot space, scanner mounted on the robotic flange (Hand-eye calibration)

  • Marker space, single scanner position

    • Note: Only available for locator-based solution types

There are three types of Photoneo 3D sensors supported for use with the Studio:

  • PhoXi 3D Scanner

  • MotionCam-3D

  • Alpha 3D Scanner

In the configuration of a vision system, it is necessary to specify the Sensor ID of the 3D sensor to be used by the vision system.
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Image 1 - 3D-sensor-related settings of the vision system configuration
Based on the chosen 3D sensor the model of the device is selected automatically. Please verify the correctness of the chosen device model as it is used as a collision object.

The last thing to specify is the Scanning profile to be used by the chosen 3D sensor with this vision system.

2 Scanning profiles

Each vision system might be used for the localization and picking of different objects. When the properties of the objects differ too much it might not be possible to achieve optimal scan quality with the same scanning parameters. Therefore it is possible to use different scanning parameters with each vision system. A set of scanning parameters is defined by a scanning profile.

PhoXi Control

Connect your 3D sensor in the PhoXi Control to configure a scanning profile.
Each 3D sensor contains several factory profiles pre-configured with different scanning parameters for different uses. Factory profiles are not editable, and cannot be deleted or renamed; however, it is possible to clone them and edit the cloned profile. The profiles can also be imported/exported. To manage your scanning profiles open the User profile settings panel (gear button ⚙).
After making changes in the scanning parameters, use the Set and Store button at the bottom of the PhoXi Control settings pane to permanently store the settings into your custom-made profile.
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Image 2 - An active profile of a 3D sensor connected in the PhoXi Control

Localization scanning profile

In the vision system configuration, it is necessary to specify the Scanning profile type (for localization). Based on the 3D sensor type the options are:

  • Default for PhoXi 3D Scanner

  • Default for MotionCam-3D in Camera mode

  • Default for MotionCam-3D in Scanner mode

  • Default for Alpha 3D Scanner

  • Custom - when selected, it is necessary to upload a scanning profile exported from PhoXi Control

The Default profile is optimized for scanning of a wide range of objects of different properties (surface/material). To achieve the best scanning results it is recommended to use a custom scanning profile with settings optimized for your application.

This scanning profile is then used during object localization, which takes place in the following processes:

  • localization configuration

  • teaching gripping point

  • solution deployment

Calibration scanning profile

During the vision system calibration, a preconfigured scanning profile is used containing calibration-specific settings.

However, in challenging scanning conditions the default scanning profile might not yield optimal results for calibration tool recognition. In the vision system configuration, in the Calibration tab, it is possible to optionally specify a custom scanning profile for vision system calibration by enabling the parameter Use custom scanning profile for calibration.

Scanning profiles are imported into the associated 3D sensor under the name **scanning-profile-name_vs_ID **where:

  • scanning-profile-name is the original name of the scaning profile

  • ID is the ID of the vision system

Scanning profiles are imported into the associated 3D sensor when a process (e.g. deployment) is started. A profile is then activated when the corresponding vision system triggers a scan.

Note: Each 3D sensor provides several pre-configured factory profiles for different uses. These profiles serve as examples and starting points when creating a custom profile.
The profile named Default in the PhoXi Control is not the same one as the Default profile used by the Studio.