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2 Vision + Robot = Flexible Automation

3 Flexible Automation The vision about robots, vision and automation handling many products variants on a running standard conveyor

4 What is the task for the vision? The primary task – Locate object –3D – six dimensions –2D – x,y and angle When located - Identification

5 Classical Scenario One camera – above the conveyor – and a robot Communication – rs-232 Robot master : Get Part Vision answer : x,y,angle

6 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 ms – P4 2.0 GHz

7 Image processing Segmentation Blob Pattern Matching Orientation Pattern Matching Line Finders Result x,y and angle

8 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

9 Identification Identificates the letter using a template- matcher A smart resampling means that the system handles rotation, perspective and size changes with ease.

10 Other examples Automatic palleting with Motoman robot

11 Blockdiagram

12 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

13 Flexible Picking Randomly feeding products on 8 conveyors. 2 robots picking and packing guided by Scorpion Vision Software Video

14 Mounting contacts Bosch robot mount contact Vision checks that the pins are OK

15 Measure Angle Motoman Robot holds object Vision measure angle

16 Conclusion Many possibilities for the innovative Cost of robot vision is dropping Standard hardware Proven and configurable software

17 One solution for all Vision Systems Configurable Software –MMI –Vision Tools –Process Insight –Communication Standard –Cameras –PC –Windows 2000/XP

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