《VisionRobotFlexibleAutomation视觉机器人为柔性自动化课件.ppt》由会员分享，可在线阅读，更多相关《VisionRobotFlexibleAutomation视觉机器人为柔性自动化课件.ppt（19页珍藏版）》请在三一办公上搜索。
1、1,2,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 object3D six dimensions2D x,y and angleWhen located-Identification,5,Clas
2、sical Scenario,One camera above the conveyor and a robot Communication rs-232Robot master:Get PartVision answer:x,y,angle,6,Scrabble Example,A PC with a monochrome 640 x 480 pixels firewire cameraCamera height 900 mmLens 8 mmRexroth Bosch AR6 robotScorpion Vision SoftwareRS-232 communicationCycletim
3、e-200 ms P4 2.0 GHz,7,Image processing,SegmentationBlobPattern MatchingOrientationPattern MatchingLine FindersResult x,y and angle,8,Vision Robot Calibration,A standard four-point calibration dominates the 2D robot visionCalibration done manually when system is offlineVision works i robot coordinate
4、s,9,Identification,Identificates the letter using a template-matcherA 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 ScorpionScorpion
5、capture image return one of the following over RS 232OK AngleError tagAngle not OKCannot Measure,13,Flexible Picking,Randomly feeding products on 8 conveyors.2 robots picking and packing guided by Scorpion Vision SoftwareVideo,14,Mounting contacts,Bosch robot mount contactVision checks that the pins
6、 are OK,15,Measure Angle,Motoman Robot holds objectVision measure angle,16,Conclusion,Many possibilities for the innovativeCost of robot vision is droppingStandard hardware Proven and configurable software,17,One solution for all Vision Systems,Configurable SoftwareMMIVision ToolsProcess InsightCommunicationStandardCameras PC Windows 2000/XP,18,谢谢,
