Upload
francine-jacobs
View
236
Download
0
Tags:
Embed Size (px)
Citation preview
1
2
Vision + Robot=
Flexible Automation
3
Flexible Automation
The vision about robots, vision and automation handling many products
variants on a running standard conveyor
4
What is the task for the vision?
The primary task – Locate object– 3D – six dimensions– 2D – x,y and angle
When located - Identification
5
Classical Scenario
One camera – above the conveyor – and a robot
Communication – rs-232
Robot master : Get Part
Vision answer : x,y,angle
6
Scrabble Example
• A PC with a monochrome 640 x 480 pixels firewire camera
• Camera height 900 mm• Lens – 8 mm• Rexroth Bosch AR6 robot• Scorpion Vision Software• RS-232 communication• Cycletime - 200 ms – P4
2.0 GHz
7
Image processing
• Segmentation• Blob
• Pattern Matching
• Orientation• Pattern Matching
• Line Finders
• Result x,y and angle
8
Vision – Robot Calibration
• A standard four-point calibration dominates the 2D robot vision
• Calibration done manually when system is offline
• Vision works i robot coordinates
9
Identification
• Identificates the letter using a template-matcher
• A smart resampling means that the system handles rotation, perspective and size changes with ease.
10
Other examples
• Automatic palleting with Motoman robot
11
Blockdiagram
Industriell VISION-PCSCORPION VMS
Trigger
External VDUand Keyboard
VGACamera
PLC
TDVCmdProtocolRS-232
Result
12
System Protocol
• PLC transmits trigger to Scorpion
• Scorpion capture image return one of the following over RS 232– OK Angle– Error tag– Angle not OK– Cannot Measure
13
Flexible Picking
• Randomly feeding products on 8 conveyors.
• 2 robots picking and packing guided by Scorpion Vision Software
• Video
14
Mounting contacts
• Bosch robot mount contact
• Vision checks that the pins are OK
15
Measure Angle
• Motoman Robot holds object
• Vision measure angle
16
Conclusion
• Many possibilities for the innovative
• Cost of robot vision is dropping
• Standard hardware
• Proven and configurable software
17
One solution for all Vision Systems
• Configurable Software– MMI
– Vision Tools
– Process Insight
– Communication
• Standard– Cameras
– PC
– Windows 2000/XP
18