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This page contains the software for all released plugins for PLB.
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PLB
Table of Contents
PLB provides a set of specialized plugins designed to handle different object types and application needs. Each plugin adds targeted localization capabilities, helping you achieve reliable pick positions with minimal configuration. The Tray Inspection plugin extends this by adding simple inspection features for use cases involving trays and structured containers.
Flat Region
The Flat region plugin is designed to locate a convex surface, with or without curvature. It can limit the search based on the tilt, width, and length of the region.
The dLocate plugin is designed for locating objects that have distinct 2D features but are challenging to detect using 3D data alone. It uses a pretrained 2D neural network to identify parts within a defined search volume and then projects the result onto the 3D point cloud to adapt the detection to the actual 3D shape of the object.
dLocate is available in two versions:
dLocate Smartpick: optimized for irregularly shaped objects. This version includes configurable pick‑pose logic to handle complex geometries.
dLocate Box: optimized specifically for box‑shaped objects. Pick‑pose configuration is simplified, as box handling does not require the additional irregular‑object settings.
The Circular Shape plugin is designed to locate circular or rotationally symmetric parts. It is available in three versions; Cylinder, Ring, and Custom. All versions use the same underlying localization method, but the Cylinder and Ring variants come preconfigured for those specific object shapes, making them quicker to set up. The Custom version allows full flexibility for user‑defined circular geometries.
The Pipe plugin is designed to locate pipes of configurable dimensions in both structured and semi‑structured arrangements. Structured use case could be pipes placed in neat, parallel rows on a rack, while a semi‑structured use case involves pipes loosely arranged in a container or on a pallet, where they may touch or overlap but still follow a generally similar orientation.
The Tray Inspection plugin is designed to inspect the placement and condition of vials or small containers arranged on a tray within a defined search volume. It can identify vials without requiring exact measurements, making it suitable even when slight variations in container size or positioning occur.
For the inspection to work reliably, the tray’s position must be known. A common pre‑step is therefore to first localize the tray using another PLB detection method before running the vial inspection.
Once the tray position is established, the plugin evaluates key quality parameters, including:
Orientation of each vial
Distance to neighboring vials
Inclination or tilt relative to the tray
This enables robust detection of missing, tilted, or misaligned vials in structured tray setups.
For older PLB plugin releases, please contact your local sales office.
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