Vision+Robot=FlexibleAutomation视觉+机器人为柔性自动化

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1、1Vision+Robot=FlexibleAutomation2FlexibleAutomationThevisionaboutrobots,visionandautomationhandlingmanyproductsvariantsonarunningstandardconveyor3Whatisthetaskforthevision?Theprimarytask–Locateobject3D–sixdimensions2D–x,yandangleWhenlocated-Identification4Classi

2、calScenarioOnecamera–abovetheconveyor–andarobotCommunication–rs-232Robotmaster:GetPartVisionanswer:x,y,angle5ScrabbleExampleAPCwithamonochrome640x480pixelsfirewirecameraCameraheight900mmLens–8mmRexrothBoschAR6robotScorpionVisionSoftwareRS-232communicationCycletime

3、-200ms–P42.0GHz6ImageprocessingSegmentationBlobPatternMatchingOrientationPatternMatchingLineFindersResultx,yandangle7Vision–RobotCalibrationAstandardfour-pointcalibrationdominatesthe2DrobotvisionCalibrationdonemanuallywhensystemisofflineVisionworksirobotcoordinate

4、s8IdentificationIdentificatestheletterusingatemplate-matcherAsmartresamplingmeansthatthesystemhandlesrotation,perspectiveandsizechangeswithease.9OtherexamplesAutomaticpalletingwithMotomanrobot10Blockdiagram11SystemProtocolPLCtransmitstriggertoScorpionScorpioncaptu

5、reimagereturnoneofthefollowingoverRS232OKAngleErrortagAnglenotOKCannotMeasure12FlexiblePickingRandomlyfeedingproductson8conveyors.2robotspickingandpackingguidedbyScorpionVisionSoftwareVideo13MountingcontactsBoschrobotmountcontactVisionchecksthatthepinsareOK14Measu

6、reAngleMotomanRobotholdsobjectVisionmeasureangle15ConclusionManypossibilitiesfortheinnovativeCostofrobotvisionisdroppingStandardhardwareProvenandconfigurablesoftware16OnesolutionforallVisionSystemsConfigurableSoftwareMMIVisionToolsProcessInsightCommunicationStanda

7、rdCamerasPCWindows2000/XP1718