Advanced Robotics and

Automation

Conveyor Tracking

https://www.kuka.com/-/media/kuka-corporate/images/products/software/kuka_pickcontrol/kuka_pickcontrol_header.jpg?rev=a3d56f09dda7463f9bea98fe54bbf868&hash=0B8A4E6EF04AAB87FCBFDA15B9503273
 Advanced Robotics and
Automation

Conveyor Tracking

What Is Conveyor Tracking?

How Does It Work?

Examples/Complexities
 Advanced Robotics and
Automation

What Is Conveyor Tracking?

• Tracks the position of an object/space travelling on a moving surface
• Allows a robot to pick/place to/from the tracked position on the moving surface
• Intro Video: https://youtu.be/lStYaW-z864

https://www.foodengineeringmag.com/ext/resources/Issues/2013-8/fex0813robot1_feat.jpg?t=137580 https://indauto.eu/images/2019/07/12/almati.jpg
3914&width=696
 Advanced Robotics and
Automation

Basic Conveyor Tracking

• Tracks a single object on a conveyor in the same position and orientation every time

http://eidtech.dyndns-at-work.com/support/RC8_Manual/img/002221/002221_3.png
 Advanced Robotics and
Automation

Advanced Conveyor Tracking

• Tracks multiple objects on a conveyor in random positions and orientations
• Typically involves vision

https://mediaserver.goepson.com/ImConvServlet/imconv/f056e41dc03ff2606e49747863de94c381faa290/515Wx515H?use=productpictures&assetDescr=conveyor_tracking_SPT_R12NZ900AA_W_384x286
 Advanced Robotics and
Automation

Conveyor Tracking

What Is Conveyor Tracking?

How Does It Work?

Examples/Complexities
 Advanced Robotics and
Automation

How Does It Work?

• Combines multiple technologies

Trigger Tracking Start

Sensor
Position Tracking
Position Tracked Position
Data Tracking Data
Algorithm Robot
Conveyor (Encoder Count)
Encoder

Basic Conveyor Tracking

 Advanced Robotics and
Automation

How Does It Work?

• Combines multiple technologies
Position/Orientation
Data

Vision Trigger Tracking Start

Trigger Camera
Position Tracked Position
Sensor Tracking Data
Algorithm Robot
Position Tracking
Data
OPTIONAL Conveyor (Encoder Count)
Encoder

Advanced Conveyor Tracking

 Advanced Robotics and
Automation

Conveyor Tracking - Encoders

Belt Encoder
• Conveyor speed can be variable or fixed (doesn't matter)
• Scale encoder counts to real world values (e.g. 10 counts = 1mm of travel)
Servo Motor
Roller Encoder

https://cdn.sick.com/media/330/1/91/891/IM0063891.jpg

Inline/Shaft Encoder

https://www.universal-robots.com/media/1110294/06__496x280.jpg
https://4.imimg.com/data4/MQ/ON/MY-790042/precision-belt-conveyors-500x500.jpg

https://cdn.sick.com/media/330/1/51/851/IM0063851.jpg
 Advanced Robotics and
Automation

Conveyor Tracking - Vision

• Collects initial position and orientation data
• Starts tracking algorithm

https://i.stack.imgur.com/Zygq3.jpg
https://d3i71xaburhd42.cloudfront.net/d47e25ad91f858cde026eda9e8c3a3820644544c/4-Figure7-1.png
 Advanced Robotics and
Automation

Conveyor Tracking - Algorithm

• Tracks a single object position or multiple object positions in an array or table
Object X (Travel Direction) Y Z rZ (Orientation)

1 -202.2 150.7 35.0 0.0

2 15.7 53.9 35.0 -23.1

3 128.9 88.4 35.0 99.7

n -21.0 15.2 35.0 -12.8

• X data changes with encoder counts

 Advanced Robotics and
Automation

Conveyor Tracking

What Is Conveyor Tracking?

How Does It Work?

Examples/Complexities
 Advanced Robotics and
Automation

Basic Conveyor Tracking Example

Encoder Robot Arm Trigger Sensor
Downstream Upstream
Boundary Boundary

Robot Working Zone

Conveyor
 Advanced Robotics and
Automation

Basic Conveyor Tracking Example

Encoder Robot Arm Trigger Sensor
Downstream Upstream
Boundary Boundary
Y= -100mm

Tracking Frame
Origin

+X
Y= 0mm

+Y
Robot Working Zone
Y= 100mm
X= 1000mm X= 0mm

Conveyor X= -150mm
+Z = Up from conveyor surface
Z = 0mm @ conveyor surface
 Advanced Robotics and
Automation

Basic Conveyor Tracking Example

Encoder Robot Arm Trigger Sensor
Downstream Upstream
Boundary Boundary
Y= -100mm

Ø= 50mm
H= 20mm
+X
Y= 0mm

+Y
Robot Working Zone
Y= 100mm
X= 1000mm X= 0mm

Conveyor X= -150mm
+Z = Up from conveyor surface
Z = 0mm @ conveyor surface
 Advanced Robotics and
Automation

Basic Conveyor Tracking Example

Assumptions:
1. Parts are presented individually and always in the center of the conveyor
2. Encoder scaling is 10 counts = 1mm of travel

Event Tracking Trigger Sensor Encoder Count X Y Z

Initial Conditions STOPPED OFF N/A N/A N/A N/A

A part breaks the trigger sensor

RUNNING ON 1000
beam
 Advanced Robotics and
Automation

Basic Conveyor Tracking Example

Assumptions:
1. Parts are presented individually and always in the center of the conveyor
2. Encoder scaling is 10 counts = 1mm of travel

Event Tracking Trigger Sensor Encoder Count X Y Z

Initial Conditions STOPPED OFF N/A N/A N/A N/A

A part breaks the trigger sensor -150mm

RUNNING ON 1000 0mm 20mm
beam
 Advanced Robotics and
Automation

Basic Conveyor Tracking Example

Assumptions:
1. Parts are presented individually and always in the center of the conveyor
2. Encoder scaling is 10 counts = 1mm of travel

Event Tracking Trigger Sensor Encoder Count X Y Z

Initial Conditions STOPPED OFF N/A N/A N/A N/A

A part breaks the trigger sensor -150mm

RUNNING ON 1000 0mm 20mm
beam -175mm (-25mm to center part)
 Advanced Robotics and
Automation

Basic Conveyor Tracking Example

Encoder Robot Arm Trigger Sensor
Downstream Upstream
Boundary Boundary
Y= -100mm

+1250 counts
+X
Y= 0mm

+Y
Robot Working Zone
Y= 100mm
X= 1000mm X= 0mm

Conveyor X= -150mm
+Z = Up from conveyor surface
Z = 0mm @ conveyor surface
 Advanced Robotics and
Automation

Basic Conveyor Tracking Example

Assumptions:
1. Parts are presented individually and always in the center of the conveyor
2. Encoder scaling is 10 counts = 1mm of travel

Event Tracking Trigger Sensor Encoder Count X Y Z

Initial Conditions STOPPED OFF N/A N/A N/A N/A

A part breaks the trigger sensor -150mm

RUNNING ON 1000 0mm 20mm
beam -175mm (-25mm to center part)
Several scans later RUNNING OFF 2250 (+1250 counts) 0mm 20mm
 Advanced Robotics and
Automation: Week 9

Basic Conveyor Tracking Example

Assumptions:
1. Parts are presented individually and always in the center of the conveyor
2. Encoder scaling is 10 counts = 1mm of travel

Event Tracking Trigger Sensor Encoder Count X Y Z

Initial Conditions STOPPED OFF N/A N/A N/A N/A

A part breaks the trigger sensor -150mm

RUNNING ON 1000 0mm 20mm
beam -175mm (-25mm to center part)
Several scans later RUNNING OFF 2250 (+1250 counts) -50mm (+125mm) 0mm 20mm
 Advanced Robotics and
Automation: Week 9

Basic Conveyor Tracking Example

Encoder Robot Arm Trigger Sensor
Downstream Upstream
Boundary Boundary
Y= -100mm

+1000 counts
+X
Y= 0mm

+Y
Robot Working Zone
Y= 100mm
X= 1000mm X= 0mm

Conveyor X= -150mm
+Z = Up from conveyor surface
Z = 0mm @ conveyor surface
 Advanced Robotics and
Automation

Basic Conveyor Tracking Example

Assumptions:
1. Parts are presented individually and always in the center of the conveyor
2. Encoder scaling is 10 counts = 1mm of travel

Event Tracking Trigger Sensor Encoder Count X Y Z

Initial Conditions STOPPED OFF N/A N/A N/A N/A

A part breaks the trigger sensor -150mm

RUNNING ON 1000 0mm 20mm
beam -175mm (-25mm to center part)
Several scans later RUNNING OFF 2250 (+1250 counts) -50mm (+125mm) 0mm 20mm
Several scans later
Part crossed into the robot working
RUNNING OFF 3250 (+1000 counts) 0mm 20mm
zone… robot begins moving to pick
the part
 Advanced Robotics and
Automation

Basic Conveyor Tracking Example

Assumptions:
1. Parts are presented individually and always in the center of the conveyor
2. Encoder scaling is 10 counts = 1mm of travel

Event Tracking Trigger Sensor Encoder Count X Y Z

Initial Conditions STOPPED OFF N/A N/A N/A N/A

A part breaks the trigger sensor -150mm

RUNNING ON 1000 0mm 20mm
beam -175mm (-25mm to center part)
Several scans later RUNNING OFF 2250 (+1250 counts) -50mm (+125mm) 0mm 20mm
Several scans later
Part crossed into the robot working
RUNNING OFF 3250 (+1000 counts) 50mm (+100mm) 0mm 20mm
zone… robot begins moving to pick
the part
 Advanced Robotics and
Automation

Basic Conveyor Tracking Example

Encoder Robot Arm Trigger Sensor
Downstream Upstream
Boundary Boundary
Y= -100mm

+8000 counts
+X
Y= 0mm

+Y
Robot Working Zone
Y= 100mm
X= 1000mm X= 0mm

Conveyor X= -150mm
+Z = Up from conveyor surface
Z = 0mm @ conveyor surface
 Advanced Robotics and
Automation

Basic Conveyor Tracking Example

Assumptions:
1. Parts are presented individually and always in the center of the conveyor
2. Encoder scaling is 10 counts = 1mm of travel

Event Tracking Trigger Sensor Encoder Count X Y Z

Initial Conditions STOPPED OFF N/A N/A N/A N/A

A part breaks the trigger sensor -150mm

RUNNING ON 1000 0mm 20mm
beam -175mm (-25mm to center part)
Several scans later RUNNING OFF 2250 (+1250 counts) -50mm (+125mm) 0mm 20mm
Several scans later
Part crossed into the robot working
RUNNING OFF 3250 (+1000 counts) 50mm (+100mm) 0mm 20mm
zone… robot begins moving to pick
the part
Several scans later
RUNNING OFF 11250 (+8000 counts) 0mm 20mm
Robot grabs part
 Advanced Robotics and
Automation

Basic Conveyor Tracking Example

Assumptions:
1. Parts are presented individually and always in the center of the conveyor
2. Encoder scaling is 10 counts = 1mm of travel

Event Tracking Trigger Sensor Encoder Count X Y Z

Initial Conditions STOPPED OFF N/A N/A N/A N/A

A part breaks the trigger sensor -150mm

RUNNING ON 1000 0mm 20mm
beam -175mm (-25mm to center part)
Several scans later RUNNING OFF 2250 (+1250 counts) -50mm (+125mm) 0mm 20mm
Several scans later
Part crossed into the robot working
RUNNING OFF 3250 (+1000 counts) 50mm (+100mm) 0mm 20mm
zone… robot begins moving to pick
the part
Several scans later
RUNNING OFF 11250 (+8000 counts) 850mm (+800mm) 0mm 20mm
Robot grabs part
 Advanced Robotics and
Automation

Basic Conveyor Tracking Example

Encoder Robot Arm Trigger Sensor
Downstream Upstream
Boundary Boundary
Y= -100mm

+X
Y= 0mm

+Y
Robot Working Zone
Y= 100mm
X= 1000mm X= 0mm

Conveyor X= -150mm
+Z = Up from conveyor surface
Z = 0mm @ conveyor surface
 Advanced Robotics and
Automation

Basic Conveyor Tracking Example

Assumptions:
1. Parts are presented individually and always in the center of the conveyor
2. Encoder scaling is 10 counts = 1mm of travel

Event Tracking Trigger Sensor Encoder Count X Y Z

Initial Conditions STOPPED OFF N/A N/A N/A N/A

A part breaks the trigger sensor -150mm

RUNNING ON 1000 0mm 20mm
beam -175mm (-25mm to center part)
Several scans later RUNNING OFF 2250 (+1250 counts) -50mm (+125mm) 0mm 20mm
Several scans later
Part crossed into the robot working
RUNNING OFF 3250 (+1000 counts) 50mm (+100mm) 0mm 20mm
zone… robot begins moving to pick
the part
Several scans later
RUNNING OFF 11250 (+8000 counts) 850mm (+800mm) 0mm 20mm
Robot grabs part
Robot lifts part clear of conveyor
and takes it away (Ready for STOPPED OFF N/A N/A N/A N/A
another part)
 Advanced Robotics and
Automation

Advanced Conveyor Tracking Example

Encoder Robot Arm
Downstream Upstream
Boundary Boundary Vision Camera
Y= -100mm

+X
Y= 0mm

+Y
Robot Working Zone Camera Field
Y= 100mm
X= 1000mm X= 0mm

Conveyor
+Z = Up from conveyor surface
Z = 0mm @ conveyor surface
 Advanced Robotics and
Automation

Advanced Conveyor Tracking Example

Encoder Robot Arm
Downstream Upstream ***Part Height= 30mm
Boundary Boundary Vision Camera
Y= -100mm
rZ = +33deg

1 Y= -52mm

+X
Y= 0mm

+Y
Robot Working Zone Camera Field
Y= 100mm
X= 1000mm X= 0mm
X= -195mm
Conveyor
+Z = Up from conveyor surface
Z = 0mm @ conveyor surface
 Advanced Robotics and
Automation

Advanced Conveyor Tracking Example

Part Tracking Array
1 <Tracking Data>
2 <Tracking Data>
3 <Tracking Data>
…
n <Tracking Data>

Index Event Tracking Part Count Encoder Count X Y Z rZ

N/A Initial Conditions STOPPED 0 N/A N/A N/A N/A N/A

1 Vision finds first part RUNNING 1 500 -195mm -52mm 30mm 33deg

Index Event Tracking Part Count Encoder Count X Y Z rZ

N/A Initial Conditions STOPPED 0 N/A N/A N/A N/A N/A

N/A Vision finds first part STOPPED 1 N/A N/A N/A N/A N/A
 Advanced Robotics and
Automation

Assumptions: Advanced Conveyor Tracking Example

1. Parts are presented in random positions and orientations
2. Encoder scaling is 10 counts = 1mm of travel
Index Event Tracking Part Count Encoder Count X Y Z rZ

N/A Initial Conditions STOPPED 0 N/A N/A N/A N/A N/A

1 Vision finds first part RUNNING 1 500 -195mm -52mm 30mm 33deg

Index Event Tracking Part Count Encoder Count X Y Z rZ

N/A Initial Conditions STOPPED 0 N/A N/A N/A N/A N/A

N/A Vision finds first part STOPPED 1 N/A N/A N/A N/A N/A
 Advanced Robotics and
Automation

Advanced Conveyor Tracking Example

Encoder Robot Arm
Downstream Upstream ***Part Height= 30mm
Boundary Boundary Vision Camera
Y= -100mm

+500 counts
1
+X rZ = -85deg Y= 0mm
Y= 28mm

2
+Y
Robot Working Zone Camera Field
Y= 100mm
X= 1000mm X= 0mm
X= -180mm
Conveyor
+Z = Up from conveyor surface
Z = 0mm @ conveyor surface
 Advanced Robotics and
Automation

Assumptions: Advanced Conveyor Tracking Example

1. Parts are presented in random positions and orientations
2. Encoder scaling is 10 counts = 1mm of travel
Index Event Tracking Part Count Encoder Count X Y Z rZ

N/A Initial Conditions STOPPED 0 N/A N/A N/A N/A N/A

1 Vision finds first part RUNNING 1 500 -195mm -52mm 30mm 33deg

1 Vision finds second part RUNNING 2 1000 (+500 counts) -145mm (+50mm) -52mm 30mm 33deg

Index Event Tracking Part Count Encoder Count X Y Z rZ

N/A Initial Conditions STOPPED 0 N/A N/A N/A N/A N/A

N/A Vision finds first part STOPPED 1 N/A N/A N/A N/A N/A

2 Vision finds second part RUNNING 2 1000 -180mm 28mm 30mm -85deg
 Advanced Robotics and
Automation

Advanced Conveyor Tracking Example

Encoder Robot Arm
Downstream Upstream ***Part Height= 30mm
Boundary Boundary Vision Camera
Y= -100mm

+1600 counts
1
+X
Y= 0mm

2
+Y
Robot Working Zone Camera Field
Y= 100mm
X= 1000mm X= 0mm

Conveyor
+Z = Up from conveyor surface
Z = 0mm @ conveyor surface
 Advanced Robotics and
Automation

Assumptions: Advanced Conveyor Tracking Example

1. Parts are presented in random positions and orientations
2. Encoder scaling is 10 counts = 1mm of travel
Index Event Tracking Part Count Encoder Count X Y Z rZ

N/A Initial Conditions STOPPED 0 N/A N/A N/A N/A N/A

1 Vision finds first part RUNNING 1 500 -195mm -52mm 30mm 33deg

1 Vision finds second part RUNNING 2 1000 (+500 counts) -145mm (+50mm) -52mm 30mm 33deg
1 First part enters robot zone RUNNING 2 2600 (+1600 counts) 15mm (+160mm) -52mm 30mm 33deg

Index Event Tracking Part Count Encoder Count X Y Z rZ

N/A Initial Conditions STOPPED 0 N/A N/A N/A N/A N/A

N/A Vision finds first part STOPPED 1 N/A N/A N/A N/A N/A

2 Vision finds second part RUNNING 2 1000 -180mm 28mm 30mm -85deg

2 First part enters robot zone RUNNING 2 2600 (+1600 counts) -30mm (+160mm) 28mm 30mm -85deg
 Advanced Robotics and
Automation

Advanced Conveyor Tracking Example

Encoder Robot Arm
Downstream Upstream ***Part Height= 30mm
Boundary Boundary Vision Camera
Y= -100mm

+750 counts
1
+X
Y= 0mm

2
+Y
Robot Working Zone Camera Field
Y= 100mm
X= 1000mm X= 0mm

Conveyor
+Z = Up from conveyor surface
Z = 0mm @ conveyor surface
 Advanced Robotics and
Automation

Assumptions: Advanced Conveyor Tracking Example

1. Parts are presented in random positions and orientations
2. Encoder scaling is 10 counts = 1mm of travel
Index Event Tracking Part Count Encoder Count X Y Z rZ

N/A Initial Conditions STOPPED 0 N/A N/A N/A N/A N/A

1 Vision finds first part RUNNING 1 500 -195mm -52mm 30mm 33deg

1 Vision finds second part RUNNING 2 1000 (+500 counts) -145mm (+50mm) -52mm 30mm 33deg
1 First part enters robot zone RUNNING 2 2600 (+1600 counts) 15mm (+160mm) -52mm 30mm 33deg
1 Robot grabs first part RUNNING 2 3350 (+750 counts) 90mm (+75mm) -52mm 30mm 33deg

Index Event Tracking Part Count Encoder Count X Y Z rZ

N/A Initial Conditions STOPPED 0 N/A N/A N/A N/A N/A

N/A Vision finds first part STOPPED 1 N/A N/A N/A N/A N/A

2 Vision finds second part RUNNING 2 1000 -180mm 28mm 30mm -85deg

2 First part enters robot zone RUNNING 2 2600 (+1600 counts) -30mm (+160mm) 28mm 30mm -85deg

2 Robot grabs first part RUNNING 2 3350 (+750 counts) 45mm (+75mm) 28mm 30mm -85deg
 Advanced Robotics and
Automation

Advanced Conveyor Tracking Example

Encoder Robot Arm
Downstream Upstream ***Part Height= 30mm
Boundary Boundary Vision Camera
1 Y= -100mm

+X
Y= 0mm
+600 counts

2
+Y
Robot Working Zone Camera Field
Y= 100mm
X= 1000mm X= 0mm

Conveyor
+Z = Up from conveyor surface
Z = 0mm @ conveyor surface
 Advanced Robotics and
Automation

Assumptions: Advanced Conveyor Tracking Example

1. Parts are presented in random positions and orientations
2. Encoder scaling is 10 counts = 1mm of travel
Index Event Tracking Part Count Encoder Count X Y Z rZ

N/A Initial Conditions STOPPED 0 N/A N/A N/A N/A N/A

1 Vision finds first part RUNNING 1 500 -195mm -52mm 30mm 33deg

1 Vision finds second part RUNNING 2 1000 (+500 counts) -145mm (+50mm) -52mm 30mm 33deg
1 First part enters robot zone RUNNING 2 2600 (+1600 counts) 15mm (+160mm) -52mm 30mm 33deg
1 Robot grabs first part RUNNING 2 3350 (+750 counts) 90mm (+75mm) -52mm 30mm 33deg

N/A Robot clears first part STOPPED 1 N/A N/A N/A N/A N/A

Index Event Tracking Part Count Encoder Count X Y Z rZ

N/A Initial Conditions STOPPED 0 N/A N/A N/A N/A N/A

N/A Vision finds first part STOPPED 1 N/A N/A N/A N/A N/A

2 Vision finds second part RUNNING 2 1000 -180mm 28mm 30mm -85deg

2 First part enters robot zone RUNNING 2 2600 (+1600 counts) -30mm (+160mm) 28mm 30mm -85deg

2 Robot grabs first part RUNNING 2 3350 (+750 counts) 45mm (+75mm) 28mm 30mm -85deg

1 Robot clears with first part RUNNING 1 3950 (+600 counts) 105mm (+60mm) 28mm 30mm -85deg
 Advanced Robotics and
Automation

Advanced Conveyor Tracking Example

Encoder Robot Arm
Downstream Upstream ***Part Height= 30mm
Boundary Boundary Vision Camera
Y= -100mm

+X
Y= 0mm
+100 counts

2
+Y
Robot Working Zone Camera Field
Y= 100mm
X= 1000mm X= 0mm

Conveyor
+Z = Up from conveyor surface
Z = 0mm @ conveyor surface
 Advanced Robotics and
Automation

Assumptions: Advanced Conveyor Tracking Example

1. Parts are presented in random positions and orientations
2. Encoder scaling is 10 counts = 1mm of travel

Index Event Tracking Part Count Encoder Count X Y Z rZ

N/A Initial Conditions STOPPED 0 N/A N/A N/A N/A N/A
N/A Vision finds first part STOPPED 1 N/A N/A N/A N/A N/A

2 Vision finds second part RUNNING 2 1000 -180mm 28mm 30mm -85deg

2 First part enters robot zone RUNNING 2 2600 (+1600 counts) -30mm (+160mm) 28mm 30mm -85deg

2 Robot grabs first part RUNNING 2 3350 (+750 counts) 45mm (+75mm) 28mm 30mm -85deg

1 Robot clears with first part RUNNING 1 3950 (+600 counts) 105mm (+60mm) 28mm 30mm -85deg

1 Robot moves to grab second part RUNNING 1 4050 (+100 counts) 115mm (+10mm) 28mm 30mm -85deg
 Advanced Robotics and
Automation

Advanced Conveyor Tracking Example

Encoder Robot Arm
Downstream Upstream ***Part Height= 30mm
Boundary Boundary Vision Camera
Y= -100mm

+X
Y= 0mm
+450 counts
2
+Y
Robot Working Zone Camera Field
Y= 100mm
X= 1000mm X= 0mm

Conveyor
+Z = Up from conveyor surface
Z = 0mm @ conveyor surface
 Advanced Robotics and
Automation

Assumptions: Advanced Conveyor Tracking Example

1. Parts are presented in random positions and orientations
2. Encoder scaling is 10 counts = 1mm of travel

Index Event Tracking Part Count Encoder Count X Y Z rZ

N/A Initial Conditions STOPPED 0 N/A N/A N/A N/A N/A
N/A Vision finds first part STOPPED 1 N/A N/A N/A N/A N/A

2 Vision finds second part RUNNING 2 1000 -180mm 28mm 30mm -85deg

2 First part enters robot zone RUNNING 2 2600 (+1600 counts) -30mm (+160mm) 28mm 30mm -85deg

2 Robot grabs first part RUNNING 2 3350 (+750 counts) 45mm (+75mm) 28mm 30mm -85deg

1 Robot clears with first part RUNNING 1 3950 (+600 counts) 105mm (+60mm) 28mm 30mm -85deg

1 Robot moves to grab second part RUNNING 1 4050 (+100 counts) 115mm (+10mm) 28mm 30mm -85deg

1 Robot grabs second part RUNNING 1 4500 (+450 counts) 160mm (+45mm) 28mm 30mm -85deg
 Advanced Robotics and
Automation

Advanced Conveyor Tracking Example

Encoder Robot Arm
Downstream Upstream ***Part Height= 30mm
Boundary Boundary Vision Camera

2
Y= -100mm

+X
Y= 0mm

+Y
Robot Working Zone Camera Field
Y= 100mm
X= 1000mm X= 0mm

Conveyor
+Z = Up from conveyor surface
Z = 0mm @ conveyor surface
 Advanced Robotics and
Automation

Assumptions: Advanced Conveyor Tracking Example

1. Parts are presented in random positions and orientations
2. Encoder scaling is 10 counts = 1mm of travel

Index Event Tracking Part Count Encoder Count X Y Z rZ

N/A Initial Conditions STOPPED 0 N/A N/A N/A N/A N/A
N/A Vision finds first part STOPPED 1 N/A N/A N/A N/A N/A

2 Vision finds second part RUNNING 2 1000 -180mm 28mm 30mm -85deg

2 First part enters robot zone RUNNING 2 2600 (+1600 counts) -30mm (+160mm) 28mm 30mm -85deg

2 Robot grabs first part RUNNING 2 3350 (+750 counts) 45mm (+75mm) 28mm 30mm -85deg

1 Robot clears with first part RUNNING 1 3950 (+600 counts) 105mm (+60mm) 28mm 30mm -85deg

1 Robot moves to grab second part RUNNING 1 4050 (+100 counts) 115mm (+10mm) 28mm 30mm -85deg

1 Robot grabs second part RUNNING 1 4500 (+450 counts) 155mm (+40mm) 28mm 30mm -85deg

N/A Robot clears second part STOPPED 0 N/A N/A N/A N/A N/A
Advanced Robotics and
Automation

Complexities

https://robodk.com/blog/wp-content/uploads/2019/04/program-robot-conveyor-1024x683.jpg
 Advanced Robotics and
Automation

Timing
Encoder Robot Arm
Downstream Upstream
Boundary Boundary Vision Camera

3
1

! 2

Robot Working Zone Camera Field

Conveyor • Is it OK to miss parts?

• Setup pick priority so you don’t miss parts
• Vary conveyor speed
 Advanced Robotics and
Automation

Overlapping Parts
Encoder Robot Arm
Downstream Upstream
Boundary Boundary Vision Camera

Robot Working Zone Camera Field

Conveyor • How vision system deals with overlapping cases

 Advanced Robotics and
Automation

Multiple Robots
Encoder Robot3 Arm Robot2 Arm Robot1 Arm

Vision Camera

Robot3 Zone Robot2 Zone Robot1 Zone Camera Field

Conveyor • Prioritizing picks (Not starving or overworking certain robots)

• Interferences
 Advanced Robotics and
Automation

Mutli-Parts
Encoder Robot Arm
Downstream Upstream
Boundary Boundary Vision Camera

1 +X
2 3
4 2 +Y
5 3 1 6
6 5
6 4

Robot Working Zone Camera Field

• Another layer of coordinates/frames (i.e. part frame)

Conveyor • Multiple picks per part
• Sub-array inside each part tracking array (i.e. multi-dimensional arrays)
 Advanced Robotics and
Automation

Multiple Conveyors
Encoder2

Vision Camera2

1 2
3
4
Camera Field Robot Working Zone
Conveyor2
Robot Arm
Encoder1

Vision Camera1

5
6
Robot Working Zone Camera Field
Conveyor1
Advanced Robotics and
Automation

Complexities

https://i.ytimg.com/vi/cWa8evbwSkI/maxresdefault.jpg