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11Vision+Robot=Flexible Automation2Vision+Robot=Flexible AutoFlexible AutomationThe vision about robots,vision and automation handling many products variants on a running standard conveyor3Flexible AutomationThe vision What is the task for the vision?The primary task Locate object3D six dimensions2D x,y and angleWhen located -Identification4What is the task for the visioClassical ScenarioOne camera above the conveyor and a robot Communication rs-232Robot master:Get PartVision answer:x,y,angle5Classical ScenarioOne camera Scrabble ExampleA PC with a monochrome 640 x 480 pixels firewire cameraCamera height 900 mmLens 8 mmRexroth Bosch AR6 robotScorpion Vision SoftwareRS-232 communicationCycletime-200 ms P4 2.0 GHz 6Scrabble ExampleA PC with a moImage processingSegmentationBlobPattern MatchingOrientationPattern MatchingLine FindersResult x,y and angle7Image processingSegmentation7Vision Robot CalibrationA standard four-point calibration dominates the 2D robot visionCalibration done manually when system is offlineVision works i robot coordinates8Vision Robot CalibrationA stIdentificationIdentificates the letter using a template-matcherA smart resampling means that the system handles rotation,perspective and size changes with ease.9IdentificationIdentificates thOther examplesAutomatic palleting with Motoman robot10Other examplesAutomatic palletBlockdiagram11Blockdiagram11System ProtocolPLC transmits trigger to ScorpionScorpion capture image return one of the following over RS 232OK AngleError tagAngle not OKCannot Measure12System ProtocolPLC transmits tFlexible PickingRandomly feeding products on 8 conveyors.2 robots picking and packing guided by Scorpion Vision SoftwareVideo13Flexible Picking13Mounting contactsBosch robot mount contactVision checks that the pins are OK14Mounting contactsBosch robot mMeasure AngleMotoman Robot holds objectVision measure angle15Measure AngleMotoman Robot holConclusionMany possibilities for the innovativeCost of robot vision is droppingStandard hardware Proven and configurable software16Conclusion16One solution for all Vision SystemsConfigurable SoftwareMMIVision ToolsProcess InsightCommunicationStandardCameras PC Windows 2000/XP17One solution for all Vision Sy1818谢谢谢谢
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