Volume Detector for virtual commissioning

eCat Updates
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We have added a new sensor component to 4.10 eCatalog: Volume Detector in Misc category.

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The component sends a boolean signal when a component enters the volume, and there’s also a component signal interface for using the component signal in e.g. vcHelpers.Robot2 scripts.

Use this as a performance-friendly solution for detecting components that enter an area or as a conveyor sensor in cases where products are on multiple different paths (such as on Crossing Conveyor).

Tips and tricks:
-To detect only dynamic components/products, use component exclusion property and press the button to select all static components in the 3D world: this way, only products are detected.
-To detect only specific components of a large layout, use component inclusion property and select only the components you want to be detected.
-To further optimize performance, use two of this component: first is the actual volume sensor, and the second is a larger volume with a longer scanning interval. PowerOnSignal of the first one is connected to the SensorBooleanSignal of the second one, so the more accurate detector scans for components only when they are nearby.
-If you need a volume sensor on a 1-to-1 conveyor, consider using the VolumeSensor behaviour instead of this component, as it allows setting the DetectionContainer.
-In case you want to simulate machine vision with connectivity, modify the script to write X,Y,Z,…,Rz coordinates of the detected components on properties/signals. You can then connect the coordinate variables and have a program on a virtual robot controller moving the TCP to the given positions.

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Would it be possible to add other shapes than box? I’m thinking “pie arc” to mimic the shape of 2D/3D laser scanner?

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Unfortunately no. This component is based on the Python API:s vcVolumeDetector, which is always box-shaped: there’s X,Y;Z for lower and upper corner of the volume, and a matrix transformation for the volume’s location. This helps with the scanning performance, as the software can just check if there are triangles/bounding box/bounding box center of a component inside the volume, depending on the detection mode.

The SafetyScanner component in Misc category however has an option to use collision detection, which can use any shape as the component geometry. The performance of (Python-implemented) collision detection is about the same as the performance of volume detection, with the volume detection being just a little bit faster with the same set of nodes being tested in both cases.

In short; you can use the SafetyScanner from Misc components as it allows for other shapes than a box.

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