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11Vision+Robot

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FlexibleAutomation2Vision+Robot

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FlexibleAutoFlexibleAutomationThevisionaboutrobots,visionandautomationhandlingmanyproductsvariantsonarunningstandardconveyor3FlexibleAutomationThevisionWhatisthetaskforthevision?Theprimarytask–Locateobject3D–sixdimensions2D–x,yandangleWhenlocated-Identification4WhatisthetaskforthevisioClassicalScenarioOnecamera–abovetheconveyor–andarobotCommunication–rs-232Robotmaster:GetPartVisionanswer:x,y,angle5ClassicalScenarioOnecamera–ScrabbleExampleAPCwithamonochrome640x480pixelsfirewirecameraCameraheight900mmLens–8mmRexrothBoschAR6robotScorpionVisionSoftwareRS-232communicationCycletime-200ms–P42.0GHz

6ScrabbleExampleAPCwithamoImageprocessingSegmentationBlobPatternMatchingOrientationPatternMatchingLineFindersResultx,yandangle7ImageprocessingSegmentation7Vision–RobotCalibrationAstandardfour-pointcalibrationdominatesthe2DrobotvisionCalibrationdonemanuallywhensystemisofflineVisionworksirobotcoordinates8Vision–RobotCalibrationAstIdentificationIdentificatestheletterusingatemplate-matcherAsmartresamplingmeansthatthesystemhandlesrotation,perspectiveandsizechangeswithease.9IdentificationIdentificatesthOtherexamplesAutomaticpalletingwithMotomanrobot10OtherexamplesAutomaticpalletBlockdiagram11Blockdiagram11SystemProtocolPLCtransmitstriggertoScorpionScorpioncaptureimagereturnoneofthefollowingoverRS232OKAngleErrortagAnglenotOKCannotMeasure12SystemProtocolPLCtransmitstFlexiblePickingRandomlyfeedingproductson8conveyors.2robotspickingandpackingguidedbyScorpionVisionSoftwareVideo13FlexiblePicking13MountingcontactsBoschrobotmountcontactVisionchecksthatthepinsareOK14MountingcontactsBoschrobotmMeasureAngleMotomanRobotholdsobjectVisionmeasureangle15MeasureAngleMotomanRobotholConclusionManypossibilitiesfortheinnovativeCostofrobotvisionisdroppingStandardhardwareProvenandconfigurablesoftware16Conclusion16OnesolutionforallVisionSystemsConfigurableSoftwareMMIVisionToolsProcessInsightCommunicationStandardCamerasPCWindows2000/XP17OnesolutionforallVisionSy1818谢谢谢谢201Vision+Robot

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FlexibleAutomation21Vision+Robot

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FlexibleAutoFlexibleAutomationThevisionaboutrobots,visionandautomationhandlingmanyproductsvariantsonarunningstandardconveyor22FlexibleAutomationThevisionWhatisthetaskforthevision?Theprimarytask–Locateobject3D–sixdimensions2D–x,yandangleWhenlocated-Identification23WhatisthetaskforthevisioClassicalScenarioOnecamera–abovetheconveyor–andarobotCommunication–rs-232Robotmaster:GetPartVisionanswer:x,y,angle24ClassicalScenarioOnecamera–ScrabbleExampleAPCwithamonochrome640x480pixelsfirewirecameraCameraheight900mmLens–8mmRexrothBoschAR6robotScorpionVisionSoftwareRS-232communicationCycletime-200ms–P42.0GHz

25ScrabbleExampleAPCwithamoImageprocessingSegmentationBlobPatternMatchingOrientationPatternMatchingLineFindersResultx,yandangle26ImageprocessingSegmentation7Vision–RobotCalibrationAstandardfour-pointcalibrationdominatesthe2DrobotvisionCalibrationdonemanuallywhensystemisofflineVisionworksirobotcoordinates27Vision–RobotCalibrationAstIdentificationIdentificatestheletterusingatemplate-matcherAsmartresamplingmeansthatthesystemhandlesrotation,perspectiveandsizechangeswithease.28IdentificationIdentificatesthOtherexamplesAutomaticpalletingwithMotomanrobot29OtherexamplesAutomaticpalletBlockdiagram30Blockdiagram11SystemProtocolPLCtransmitstriggertoScorpionScorpioncaptureimagereturnoneofthefollowingoverRS232OKAngleErrortagAnglenotOKCannotMeasure31SystemProtocolPLCtransmitstFlexiblePickingRandomlyfeedingproductson8conveyors.2robotspickingandpackingguidedbyScorpionVisionSoftwareVideo32FlexiblePicking13MountingcontactsBoschrobotmountcontactVisionchecksthatthepinsareOK33MountingcontactsBoschrobotmMeasureAngleMotomanRobotholdsobjectVisionmeasureangle34MeasureAngleMotomanRobotholConclusionManypossibilitiesfortheinnovativeCostofrobotvisionisdroppingStandardhardware

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