System Solution Overview
Solution Overview
A 3D machine vision system detects the position and pose of randomly stacked parcels and sends position signals to the robot arm, guiding it to grasp the parcels — efficiently replacing repetitive manual work and reducing parcel damage.
- Positioning: determines the optimal picking strategy and locates the grasp position
- Classification: distinguishes soft bags from cartons to prevent parcels from being flung off
- Exception handling: oversized, overweight, deformed, or jammed parcels
Vision System Components
- 1 × FM851-E2 industrial 3D camera
- External LED light source
- Software SDK (industrial PC)
- Package Picking software package
Complete Solution Configuration
Camera:
- Camera hardware: Percipio FM851-E2
- Vision software: Package Picking
- Robot control system: iNexBot control system
Industrial PC:
- OS: Windows 10 Enterprise 64-bit
- Processor: Intel(R) Core(TM) i7-10700F CPU @ 2.90Ghz
- Memory: 16G
- GPU：NVIDIA GeForce GTX 1660 SUPER
Others:
- Light source, suction cups, checkerboard, air pump, etc.
Overall System Performance
Test conditions: 1,680 parcels/hour
Cycle time: 2.08 s/parcel
Actual throughput: > 1,500 parcels/hour
Advantage: image acquisition and computation run in parallel with robot motion — zero waiting time across the entire robot workflow!
Vision System Installation Instructions
Camera mounting height:
1170 mm (from the surface of the parcel feeding table)
Field of view:
- 725*635 @ 700 mm
- 1260 * 950 @1170 mm
Vision System Performance
Based on the Percipio FM851-E2 active binocular structured-light 3D camera, the system features a high frame rate and wide field of view, delivering an industrial-grade 3D vision system with exceptional cost performance.
| Percipio | FM851-E2 |
|---|---|
| 3D camera dimensions | 124mm X 28.6mm X 86.8mm |
| Measuring range | 0.7 m-6 m |
| 3D measurement accuracy | 1 mm-6 mm |
| Depth map resolution | 1280p |
| RGB resolution | 1280p |
| Frame rate | 16-26 fps |
| Baseline configuration | 55 mm |
| Working range | 715 x 600 @ 700 mm 6650 x 5340 @ 6000 mm |
| Interface | Gigabit Ethernet (RJ45) |
Case Study
