Logistics Automated Packaging System

System Solution Introduction

Solution overview

We adopt a 3D machine vision system to detect the position and attitude of disordered packages, send the position signal to the robot, and guide the robot to grab the packages. This process efficiently replaces repetitive manual labor and reduces package damage.

Complex packaging environment

  • Positioning: Provide the optimal grabbing strategy and locate the grabbing position
  • Sorting: Distinguish between soft packages and cardboard boxes to prevent the packages from being thrown away
  • Exception handling: Dealing with oversized, overweight, deformed packages or those that are stuck

Accurate positioning of cluttered packages
Accurate positioning of cluttered packages

Vision system configuration

  • One FM851-E2 industrial 3D camera
  • External LED light source
  • Software SDK (IPC)
  • Package Picking software package

Complete Solution Configuration


  • Camera hardware: Percipio FM851-E2
  • Vision software: Package Picking
  • Robot controll system: iNexBot controll system


  • System: Windows 10 Enterprise 64-bit
  • Processor: Intel(R) Core(TM) i7-10700F CPU @ 2.90Ghz
  • Memory: 16G
  • GPU: NVIDIA GeForce GTX 1660 SUPER


  • Light source, suction cup, checkerboard grid, air pump, etc.

Comprehensive System Performance

Efficiency under experimental conditions: 1680 pieces/hour

Cycle time: 2.08 s/piece

Actual operation efficiency: > 1500 pieces/hour

Image acquisition and calculation process are parallel to the movement of the robot, achieving zero waiting time throughout the entire process!

Scheme example

Vision System Installation Instructions

Camera mounting height:

1170 mm (from the surface of the supply table)

Coverage (field of view):

  • 725*635 @ 700 mm
  • 1260 * 950 @1170 mm

Installation height

Vision System Performance

Based on the Percipio active binocular structured light 3D camera FM851-E2 with high frame rate and large field of view, it provides customers with an ultimate cost-effective industrial-grade 3D vision system.

3D camera size124mm X 28.6mm X 86.8mm
Measuring range0.7 m-6 m
3D measurement accuracy1 mm-6 mm
Depth map resolution1280p
RGB resolution1280p
Frame rate16-26 fps
Baseline configuration selection55 mm
Working range715 x 600 @ 700 mm
6650 x 5340 @ 6000 mm
InterfaceGigabit Ethernet (RJ45)


PC monitoring

If there are errors in this article please give us feedback, we value your comments or suggestions.