This project involved the detection of the position and orientation of flat dough pieces.

The pieces are fed into the cell on the four customer-side conveyor belts. The dough pieces are pre-treated and then conveyed into the cell. A camera detects the position and orientation of the dough pieces and checks them for cracks or holes.

On the basis of the processing steps selected below, the software calculates the appropriate position on the belt.

The robot moves and turns the dough piece on the belt as required. If the system detects that a dough piece cannot be processed further, it is passed through the system without the intervention of the robot and then removed through the customer-side discharge.