2019年Vision + Robot = Flexible Automation视觉+机器人为柔性自动化
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6
Image processing
• Segmentation
• Blob • Pattern Matching
• Orientation
• Pattern Matching • Line Finders
• Result x,y and angle
7
Vision – Robot Calibration
12
Flexible Picking
• Randomly feeding products on 8 conveyors. • 2 robots picking and packing guided by Scorpion Vision Software
• Video
13
Mounting contacts
One camera – above the conveyor – and a robot Communication – rs-232 Robot master : Get Part Vision answer : x,y,angle
5
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
17
18
8
Identification
• Identificates the letter using a templatematcher • A smart resampling means that the system handles rotation, perspective and size changes with ease.
• Bosch robot mount contact • Vision checks that the pins are OK
14
Measure Angle
• Motoman Robot holds object • Vision measure angle
15
Conclusion
• • • • Many possibilities for the innovative Cost of robot vision is dropping Standard hardware Proven and configurable software
3
What is the task for the vision?
The primary task – Locate object
– 3D – six dimensions – 2D – x,y and angle
When located - Identification
4
Classical Scenario
9
Other examples
• Automatic palleting with Motoman robot
10
Blockdiagram
External VDU and Keyboard VGA Camera Industriell VISION-PC SCORPION VMS
TDVCmdProtocol RS-232
• A standard four-point calibration dominates the 2D robot vision • Calibration done manually when system is offline • Vision works i robot coordinates
16
One solution for all Vision Systems
• Configurable Software
– – – – MMI Vision Tools Process Insight Communication
• Standard
– Cameras – PC – Windows 2000/XP
Trigger
Result
PLC
11
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
1
Vision + Robot = Flexible Automation
2
Flexible Automation
The vision abouቤተ መጻሕፍቲ ባይዱ robots, vision and automation handling many products variants on a running standard conveyor
Image processing
• Segmentation
• Blob • Pattern Matching
• Orientation
• Pattern Matching • Line Finders
• Result x,y and angle
7
Vision – Robot Calibration
12
Flexible Picking
• Randomly feeding products on 8 conveyors. • 2 robots picking and packing guided by Scorpion Vision Software
• Video
13
Mounting contacts
One camera – above the conveyor – and a robot Communication – rs-232 Robot master : Get Part Vision answer : x,y,angle
5
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
17
18
8
Identification
• Identificates the letter using a templatematcher • A smart resampling means that the system handles rotation, perspective and size changes with ease.
• Bosch robot mount contact • Vision checks that the pins are OK
14
Measure Angle
• Motoman Robot holds object • Vision measure angle
15
Conclusion
• • • • Many possibilities for the innovative Cost of robot vision is dropping Standard hardware Proven and configurable software
3
What is the task for the vision?
The primary task – Locate object
– 3D – six dimensions – 2D – x,y and angle
When located - Identification
4
Classical Scenario
9
Other examples
• Automatic palleting with Motoman robot
10
Blockdiagram
External VDU and Keyboard VGA Camera Industriell VISION-PC SCORPION VMS
TDVCmdProtocol RS-232
• A standard four-point calibration dominates the 2D robot vision • Calibration done manually when system is offline • Vision works i robot coordinates
16
One solution for all Vision Systems
• Configurable Software
– – – – MMI Vision Tools Process Insight Communication
• Standard
– Cameras – PC – Windows 2000/XP
Trigger
Result
PLC
11
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
1
Vision + Robot = Flexible Automation
2
Flexible Automation
The vision abouቤተ መጻሕፍቲ ባይዱ robots, vision and automation handling many products variants on a running standard conveyor