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Vision + Robot=

Flexible Automation

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Flexible Automation

The vision about robots, vision and automation handling many products

variants on a running standard conveyor

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What is the task for the vision?

The primary task – Locate object– 3D – six dimensions– 2D – x,y and angle

When located - Identification

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Classical Scenario

One camera – above the conveyor – and a robot

Communication – rs-232

Robot master : Get Part

Vision answer : x,y,angle

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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

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Image processing

• Segmentation• Blob

• Pattern Matching

• Orientation• Pattern Matching

• Line Finders

• Result x,y and angle

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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

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Identification

• Identificates the letter using a template-matcher

• A smart resampling means that the system handles rotation, perspective and size changes with ease.

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Other examples

• Automatic palleting with Motoman robot

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Blockdiagram

Industriell VISION-PCSCORPION VMS

Trigger

External VDUand Keyboard

VGACamera

PLC

TDVCmdProtocolRS-232

Result

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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

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Flexible Picking

• Randomly feeding products on 8 conveyors.

• 2 robots picking and packing guided by Scorpion Vision Software

• Video

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Mounting contacts

• Bosch robot mount contact

• Vision checks that the pins are OK

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Measure Angle

• Motoman Robot holds object

• Vision measure angle

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Conclusion

• Many possibilities for the innovative

• Cost of robot vision is dropping

• Standard hardware

• Proven and configurable software

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One solution for all Vision Systems

• Configurable Software– MMI

– Vision Tools

– Process Insight

– Communication

• Standard– Cameras

– PC

– Windows 2000/XP

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