Jimmie_Ohio
Member
Here's how I would do it, since weighing "is out of the question":
1) Sense the presence of material in each box.
2) Sense the presence of all boxes in the matrix of boxes just prior to loading.
3) Sense that AFTER loading, no boxes remain at the pick-up point. For example, no box was dropped, etc.
4) After loading, also sense that the area around the carton is clear. For example, no box or boxes got "half-loaded" or missed the carton, dropping off somewhere in the vicinity of the carton.
For every operation, check that the sensor is "clear". For example, during the "window" when nothing is to be sensed, the condition of the sensor should be opposite to when it is "made". This will be a check for a faulty sensor.
If money allows or practicality demands it, use a vision system during the appropriate steps in this sequence instead of a "sensor".
1) Sense the presence of material in each box.
2) Sense the presence of all boxes in the matrix of boxes just prior to loading.
3) Sense that AFTER loading, no boxes remain at the pick-up point. For example, no box was dropped, etc.
4) After loading, also sense that the area around the carton is clear. For example, no box or boxes got "half-loaded" or missed the carton, dropping off somewhere in the vicinity of the carton.
For every operation, check that the sensor is "clear". For example, during the "window" when nothing is to be sensed, the condition of the sensor should be opposite to when it is "made". This will be a check for a faulty sensor.
If money allows or practicality demands it, use a vision system during the appropriate steps in this sequence instead of a "sensor".