Adept PC-Based Machine VisionAdept PC-Based Machine Vision

HexSight and Adept iSight

Adept TechnologyAdept Technology

Leader in Vision-Motion Control for Small Parts Assembly & Handling

Fast, robust object locationFast, robust object location

• High performance - geometric object locationo Performs well in harsh environments o Scale and rotation independent

• High accuracy - 1/50th pixel or better • Model-based inspection tools

• High performance - geometric object locationo Performs well in harsh environments o Scale and rotation independent

• High accuracy - 1/50th pixel or better • Model-based inspection tools

RobustnessRobustness

• Can locate faster in poorer visibility

• Objects can be occluded, overlapping, touching

• Can locate faster in poorer visibility

• Objects can be occluded, overlapping, touching

Unique, powerful contour recognitionUnique, powerful contour recognition

• Best in subpixel accuracy

• Scales easily - from simple to complex object finding

• Best in subpixel accuracy

• Scales easily - from simple to complex object finding

Fast & portable calibration Fast & portable calibration

• Calibration ensures excellent subpixel accuracy

• Calibrate for: o lens distortion o perspective distortiono pixel size

• Portable calibration files: reuse calibrations

• Calibration ensures excellent subpixel accuracy

• Calibrate for: o lens distortion o perspective distortiono pixel size

• Portable calibration files: reuse calibrations

Model-based object finding Model-based object finding • Automatic model-teaching• Model creation & edition

o Create and edit either programmatically or through User Interface

• Portable Models o Save and reuse across

applicationso Share across calibrated vision

setups

• Automatic model-teaching• Model creation & edition

o Create and edit either programmatically or through User Interface

• Portable Models o Save and reuse across

applicationso Share across calibrated vision

setups

Model-based tool positioningModel-based tool positioning

• Tools can be positioned on Model instances

• Model-based tools are applied to found object in its “as found” position

• Edge Locator, Caliper, Blob Analyzer, geometric Finder tools, etc.

• Tools can be positioned on Model instances

• Model-based tools are applied to found object in its “as found” position

• Edge Locator, Caliper, Blob Analyzer, geometric Finder tools, etc.

Designed for embeddingDesigned for embedding

Integration made easier by multiple packaging options:o ActiveX controlso DLL C++ libraries on Windows (fully compatible

with .NET environment)o Static C++ libraries

Platform independent o Algorithms can be ported to various platforms and

Operating Systems o Algorithms can be ported to most processors

Integration made easier by multiple packaging options:o ActiveX controlso DLL C++ libraries on Windows (fully compatible

with .NET environment)o Static C++ libraries

Platform independent o Algorithms can be ported to various platforms and

Operating Systems o Algorithms can be ported to most processors

HexSight 3.3 Quick FactsHexSight 3.3 Quick Facts

• All tools available as C++ Libraries• Fully compliant with the .NET development

environment• New basic setup mode for the Locator• Locator made model-based (cascaded)

o Accurate location of sub-features of varying scale and rotation

• New application exampleso How to integrate Locator as a DLL (OEM use)o New Locator example

• All tools available as C++ Libraries• Fully compliant with the .NET development

environment• New basic setup mode for the Locator• Locator made model-based (cascaded)

o Accurate location of sub-features of varying scale and rotation

• New application exampleso How to integrate Locator as a DLL (OEM use)o New Locator example

New innovative addition in HexSight 3.3New innovative addition in HexSight 3.3

• Locator made model-based (cascaded Locators)o Accurate location

of sub-features of varying scale and rotation

• Locator made model-based (cascaded Locators)o Accurate location

of sub-features of varying scale and rotation

Applications: AutomotiveApplications: Automotive

Brake pads inspectionBrake pads inspectionTire thread inspectionTire thread inspection

Applications: Consumer ElectronicsApplications: Consumer Electronics

Disk Drive Head inspectionDisk Drive Head inspectionDisk Drive Cassette inspectionDisk Drive Cassette inspection

Applications: Electronics ComponentsApplications: Electronics Components

Regulators inspectionRegulators inspection

Applications: FoodApplications: Food

Donuts location (for pick) and inspectionDonuts location (for pick) and inspection

Applications: Consumer Products (Cosmetics)Applications: Consumer Products (Cosmetics)

Perfume bottles identification and location (for pick by an Adept robot)

Perfume bottles identification and location (for pick by an Adept robot)

Vision Guidance IntegrationVision Guidance Integration

1. Vision Tools & Algorithms

2. Camera & Robot Calibration

3. Transformations & Control

++_________

Adept Integration

equals

Applications: RefinePickPlace

Simplicity

Performance

Supportability

Vision on-the-flyVision on-the-fly

Vision-based Flexible FeedingVision-based Flexible Feeding

Packaging with vision and conveyor trackingPackaging with vision and conveyor tracking

Value through broadening market applications Value through broadening market applications

Movement

Control

Rigid

Intelligent

Simple Complex

Pick &Place

Simple Assembly

AssembleAlternate

Parts

BoxingTakeOut

MultiProduct

Assembly

VisionAssembly

ConveyerTracking

Two Handed

Work

LoadUnload

MovementAssembly

BinPicking

3D FLEXAssembly

Small-LotAssembly

Vision not required

Vision not required

Vision is added-value to production line

Vision is added-value to production line

Tightly integrated vision, “just like a human”

Tightly integrated vision, “just like a human”

The cost of complexityThe cost of complexity

• Technical risk and cost go hand-in-hand

• Technical risk and cost go hand-in-hand

Risk increases as a multiple of complexityRisk increases as a multiple of complexity

Calibration

User interface

Communications

Tolerance

Synchronization

OpportunitiesOpportunities

InstallInstall

DesignDesign

OperateOperate

MaintainMaintain

↓ Commissioning time

↑ Plant production

↓ Setup time

↓ Unscheduled downtime

↓ Programming effort

↓ Setup time

Productivity

Profitability

OEMs•Sharpen focus on strategic market value, (not on fine details of technical components)

OEMs•Sharpen focus on strategic market value, (not on fine details of technical components)

Systems Integrators

•Avoid competitive battles on labor cost

•Focus on overall system (structure, sequence, etc.)

Systems Integrators

•Avoid competitive battles on labor cost

•Focus on overall system (structure, sequence, etc.)

Users•Raise plant ROI by lowering CAPEX

•Increase opportunities to make money on lower volume products

Users•Raise plant ROI by lowering CAPEX

•Increase opportunities to make money on lower volume products

Vision guidance made easy

Combination of Adept DeskTop, vision software, camera and accessories in a single pre-validated package.

Vision guidance made easy

Combination of Adept DeskTop, vision software, camera and accessories in a single pre-validated package.

Vision Guidance IntegrationVision Guidance Integration

Vision guidance made easy

• Open, PC-based system

• Turnkey systemo Out-of-the-box solution

o Vision software, camera, lens and accessories

• Add-on to Adept DeskTop and Adept Cobra i-serieso Seamlessly integrated with Adept

DeskTop environment

Vision guidance made easy

• Open, PC-based system

• Turnkey systemo Out-of-the-box solution

o Vision software, camera, lens and accessories

• Add-on to Adept DeskTop and Adept Cobra i-serieso Seamlessly integrated with Adept

DeskTop environment

Adept iSight OverviewAdept iSight Overview

• Product familyo First for Cobra i-series, expanding later

on to other controls and mechanisms

• Ease of useo Point-and-click vision application

development

• Simplicityo Robustness of the vision tools makes

deployment easy

• Performance

o Benefits from the fastest and most robust geometric object locator

• Product familyo First for Cobra i-series, expanding later

on to other controls and mechanisms

• Ease of useo Point-and-click vision application

development

• Simplicityo Robustness of the vision tools makes

deployment easy

• Performance

o Benefits from the fastest and most robust geometric object locator

Adept iSight OverviewAdept iSight Overview

Building an applicationBuilding an application

A few simple steps…A few simple steps…

• Calibrating vision and robot-to-vision

• Creating and editing modeles• Creating the vision sequence

Adept iSight User InterfaceAdept iSight User Interface

Drop tools in the

toolbox

Configure the tool

parameters

Watch instances found

Get found instances

data

Applications: Medical devicesApplications: Medical devices

Medical Infusion bags packaging

• Multiple mechanisms• One or more cameras• Conveyor tracking with

feeders/conveyors• High precision

• Applications:o Food packagingo Pharmaceutical packagingo Flexible part manufacturingo Multi-product assembly

Medical Infusion bags packaging

• Multiple mechanisms• One or more cameras• Conveyor tracking with

feeders/conveyors• High precision

• Applications:o Food packagingo Pharmaceutical packagingo Flexible part manufacturingo Multi-product assembly

Applications: Electronics AssemblyApplications: Electronics Assembly

Electronics componentsflexible feeding and assemblyElectronics componentsflexible feeding and assembly

Applications: Electronics AssemblyApplications: Electronics Assembly

High precision screwdriving cell

for disk drive assemblyHigh precision screwdriving cell

for disk drive assembly

Applications: CoinageApplications: Coinage

Quality inspection and location for pickQuality inspection and location for pick

BackupBackup

Finder ToolsFinder Tools• Arc Finder, Line Finder, Point

Findero Search Area that is defined by

Position X, Position Y, Width, Thickness, Radius (for arc), and Rotation.

o Multiple instanceso Results output in either Image,

World, Object, Tool coordinate systems.

o Search for Dark To Light, Light To Dark, or either transition in greylevel values.

o Supports edgestrength, sampling, and tolerance filtering of results

• Arc Finder, Line Finder, Point Findero Search Area that is defined by

Position X, Position Y, Width, Thickness, Radius (for arc), and Rotation.

o Multiple instanceso Results output in either Image,

World, Object, Tool coordinate systems.

o Search for Dark To Light, Light To Dark, or either transition in greylevel values.

o Supports edgestrength, sampling, and tolerance filtering of results

Builder ToolsBuilder Tools

• Computed geometric features that have been created using output from other tools - Arc Finder, Line Finder, Point Finder, or another instance of the Builder tool.

• Computed geometric features that have been created using output from other tools - Arc Finder, Line Finder, Point Finder, or another instance of the Builder tool.

Arc CaliperArc Caliper• The Arc Caliper tool finds, locates and measures the gap between one

or more edge pairs on an object within a bounded area (called a Sector).

• Arc Caliper uses pixel gray level values within the Sector to build projections, either annular or radial, needed for edge detection.

• Can be applied to multiple instances• Multitude of configuration options and filtering

• The Arc Caliper tool finds, locates and measures the gap between one or more edge pairs on an object within a bounded area (called a Sector).

• Arc Caliper uses pixel gray level values within the Sector to build projections, either annular or radial, needed for edge detection.

• Can be applied to multiple instances• Multitude of configuration options and filtering

Sector

Caliper ToolCaliper Tool

• The Caliper tool finds, locates and measures the gap between one or more edge pairs on an object within a rectangular bounded area.

• Caliper uses pixel gray level values within bounded area to build projections needed for edge detection.

• Can be applied to multiple instances• Multitude of configuration options and filtering

• The Caliper tool finds, locates and measures the gap between one or more edge pairs on an object within a rectangular bounded area.

• Caliper uses pixel gray level values within bounded area to build projections needed for edge detection.

• Can be applied to multiple instances• Multitude of configuration options and filtering

Edge LocatorsEdge Locators

• Arc and rectangular edge detection• Once potential edges have been located, the Edge Locator

scores these edges according to user-defined criteria and then returns results for valid edges it has located.

• Arc and rectangular edge detection• Once potential edges have been located, the Edge Locator

scores these edges according to user-defined criteria and then returns results for valid edges it has located.

Blob AnalyzerBlob Analyzer

• Finds, labels and analyzes geometric and gray level properties of irregular shaped objects. o Hole analysis, o Contour information, o Area, position, perimeter, roundness, moments of inertia,

elongation, center of mass, o Bounding box characteristics, o Gray level statistics

• Finds, labels and analyzes geometric and gray level properties of irregular shaped objects. o Hole analysis, o Contour information, o Area, position, perimeter, roundness, moments of inertia,

elongation, center of mass, o Bounding box characteristics, o Gray level statistics

Pattern LocatorPattern Locator

• Detects low contrast or small features such as letters, numbers, symbols and logos on a part.

o Patterns that can provide well defined contours can be modeled and found by the Locator tool.

• Useful foro Detecting the presence/absence of a grayscale pattern on a modeled object

(Locator).o Finding the rotation of a symmetric object using features on the object.o Classifying objects having the same contours by their grayscale features.

• Detects low contrast or small features such as letters, numbers, symbols and logos on a part.

o Patterns that can provide well defined contours can be modeled and found by the Locator tool.

• Useful foro Detecting the presence/absence of a grayscale pattern on a modeled object

(Locator).o Finding the rotation of a symmetric object using features on the object.o Classifying objects having the same contours by their grayscale features.

Image Processing ToolsImage Processing Tools• Arithmetic Operations

o Addition, Subtraction, Multiplication, Division, Lightest and Darkest.

• Assignment Operations o Initialization, Copy and Inversion.

• Transform Operationso Fast Fourier Transform, Discrete Cosine Transform (DCT) output as 1D Linear,

2D Linear, 2D Logarithmic or Histogram.

• Logical Operations o And, Nand, Nor, Or and Xor.

• Filtering Operationso Convolution operation using standard or custom kernal. Filters include

Average, Gaussian, Horizontal Prewitt, Vertical Prewitt, Horizontal Sobel, Vertical Sobel, High Pass, Laplacian, Sharpen, SharpenLow and Median

• Morphological Operationso Dilate, Erode, Close and Open

• Histogram Operationso Equalization, Stretching, Light Threshold and Dark Threshold

• Arithmetic Operations o Addition, Subtraction, Multiplication, Division, Lightest and Darkest.

• Assignment Operations o Initialization, Copy and Inversion.

• Transform Operationso Fast Fourier Transform, Discrete Cosine Transform (DCT) output as 1D Linear,

2D Linear, 2D Logarithmic or Histogram.

• Logical Operations o And, Nand, Nor, Or and Xor.

• Filtering Operationso Convolution operation using standard or custom kernal. Filters include

Average, Gaussian, Horizontal Prewitt, Vertical Prewitt, Horizontal Sobel, Vertical Sobel, High Pass, Laplacian, Sharpen, SharpenLow and Median

• Morphological Operationso Dilate, Erode, Close and Open

• Histogram Operationso Equalization, Stretching, Light Threshold and Dark Threshold

Image Sharpness ToolImage Sharpness Tool

• Used for verification or validation of the image sharpness of an image before it is processed by other tools. o Can also be used as a building block for

implementing auto focus with motorized focus lens using sharpness value to close the loop.

• Used for verification or validation of the image sharpness of an image before it is processed by other tools. o Can also be used as a building block for

implementing auto focus with motorized focus lens using sharpness value to close the loop.

Other ToolsOther Tools

• Histogram Tool• Sampling Tool• Barcode Reader

o Code 128, UPC-E, Code 39, UPC Supplemental, Code 93, PDF-417, Interleaved 2 of 5, BC 412, Codabar, Postnet, UPC/EAN, Pharmacode

• OCR Fixed Fonto Up to four lines of character strings having same font. o SEMI, OCR-A, and OCR-B.

• Data Matrix Reader (2-D Symbology)

• Histogram Tool• Sampling Tool• Barcode Reader

o Code 128, UPC-E, Code 39, UPC Supplemental, Code 93, PDF-417, Interleaved 2 of 5, BC 412, Codabar, Postnet, UPC/EAN, Pharmacode

• OCR Fixed Fonto Up to four lines of character strings having same font. o SEMI, OCR-A, and OCR-B.

• Data Matrix Reader (2-D Symbology)