Scorpion 3D Stinger – Pipe Picking II

Scorpion 3D Stinger for Robot Vision is a flexible automation product.

Pipe Picking Application Areas

The Scorpion 3D Stinger technology has an application area potential in Automotive,  3D Robot Vision, Security, Maritime Industry,  Fish Farming and Oil & Gas.

The pipe location feature capability can be adapted for picking pipes both in a factory and outdoor environment.

The goal for Scorpion 3D Stinger for Robot Vision is to make it easy to deploy machine vision.  With 3D we make systems that require no training or teaching. The 3D Pipe Picking system requires not teaching to operate and handle different pipe dimensions. The system can be described with the following properties:


The 3D Model shows the Scorpion 3D Stinger camera looking at the end of a pile of pipes.  The layout can be optimised for Robot Picking.  The sample application has 20 pipes in five layers. The diameter is 129 mm. The depth varies from 500 to 800 mm.

Scorpion 3D Stinger for Robot Vision will also support mounting the camera on the robot. This provides more flexiblity with regards to handling multiple pipe picking positions.

What does the system do?

The animation below pile of pipes being located in 3D. The number of pipes are being counted. The pipes are sorted in rows and columns. The upper-most pipe is selected to be picked. The diameter is calculated to verify that the pipe is pickable for the robot.

The system locates the 3D position of every pipe. It selects the upper-most right pipe and calculates the diameter for verification

Hardware and Software:

  • Industrial PC with Intel Multi-Core CPU
  • Scorpion 3D Stinger for Robot Vision
  • Scorpion 3D Stinger Camera
  • 3D Calibration Targets

3D Calibration:

Calibration is performed in two steps.

  1. 2D Calibration – Scorpion Calibrator tool is used to remove lens distortion and prepare the system for true sub-pixel operation.
  2. 3D Calibration in Robot coordinates –  ExternalReference3D is used to create the 3D Camera Calibration