1、12Vision + Robot=Flexible Automation3Flexible AutomationThe vision about robots, vision and automation handling many products variants on a running standard conveyor4What is the task for the vision?The primary task Locate object 3D six dimensions 2D x,y and angleWhen located - Identification5Classic
2、al ScenarioOne camera above the conveyor and a robot Communication rs-232Robot master : Get PartVision answer : x,y,angle6Scrabble 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 Cycl
3、etime - 200 ms P4 2.0 GHz 7Image processing Segmentation Blob Pattern Matching Orientation Pattern Matching Line Finders Result x,y and angle8Vision Robot Calibration A standard four-point calibration dominates the 2D robot vision Calibration done manually when system is offline Vision works i robot
4、 coordinates9Identification Identificates the letter using a template-matcher A smart resampling means that the system handles rotation, perspective and size changes with ease.10Other examples Automatic palleting with Motoman robot11BlockdiagramIndustriell VISION-PCSCORPION VMSTriggerExternal VDUand
5、 KeyboardVGACameraPLCTDVCmdProtocolRS-232Result12System 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 Measure13Flexible Picking Randomly feeding products on 8 conveyors. 2 robots picking and packing gu
6、ided by Scorpion Vision Software Video14Mounting contacts Bosch robot mount contact Vision checks that the pins are OK15Measure Angle Motoman Robot holds object Vision measure angle16Conclusion Many possibilities for the innovative Cost of robot vision is dropping Standard hardware Proven and configurable software17One solution for all Vision Systems Configurable Software MMI Vision Tools Process Insight Communication Standard Cameras PC Windows 2000/XP18谢谢
