Vision + Robot = Flexibl条e Automation视觉+机器人为柔性自动化.pptVIP

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2019-04-28 发布于福建
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Vision + Robot = Flexibl条e Automation视觉+机器人为柔性自动化.ppt

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VisionRobot=Flexibl条eAutomation视觉机器人为柔性自动化

Vision + Robot=Flexible Automation Flexible Automation The vision about robots, vision and automation handling many products variants on a running standard conveyor What is the task for the vision? The primary task – Locate object 3D – six dimensions 2D – x,y and angle When located - Identification Classical Scenario 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 Image processing Segmentation Blob Pattern Matching Orientation Pattern Matching Line Finders Result x,y and angle 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 Identification Identificates the letter using a template-matcher A smart resampling means that the system handles rotation, perspective and size changes with ease. Other examples Automatic palleting with Motoman robot Blockdiagram 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 Flexible Picking Randomly feeding products on 8 conveyors. 2 robots picking and packing guided by Scorpion Vision Software Video Mounting contacts Bosch robot mount contact Vision checks that the pins are OK Measure Angle Motoman Robot holds object Vision measure angle Conclusion Many possibilities for the innovative Cost of robot vision is dropping Standard hardware Proven and configurable software One solution for all Vision Systems Configurable Software MMI Vision Tools Process Insight Communication Standard Cameras PC Windows 2000/XP * One camera – above the conveyor – and a robot Communication – rs-232 Robot master : Get Part Vision answer : x,y,angle *