Robot guidance using Matrox Design Assistant vision software
Robot guidance using Matrox Design Assistant vision software
About the Matrox group » Established in 1976 » Privately held » 800 employees worldwide » Headquartered in Montréal, Canada » Three (3) divisions » Graphics: solutions for multi-display systems » Video: solutions for video production » Imaging: solutions for machine vision Robot guidance using Matrox Design Assistant February 2015
About Matrox Imaging » Leading developer of component-level hardware and software solutions » Essentially based in Montréal, Canada » 150 employees of which 60% in R&D » Worldwide presence through third-parties » Supplier to OEMs and integrators Robot guidance using Matrox Design Assistant February 2015
Matrox Imaging product line Vision software Matrox Imaging Library (MIL) and Matrox Design Assistant Smart cameras Vision systems / industrial computers Frame grabbers Analog, Camera Link®, Camera Link HS™, Coa. Xpress®, DVI-D and SDI Vision processors Frame grabbers with FPGA-based processing Robot guidance using Matrox Design Assistant February 2015
Matrox Design Assistant » Integrated Development Environment (IDE) for designing vision applications » Construct and configure logic using a flowchart » Layout and configure operator interface (HMI) » Deploy project to Matrox smart camera, vision system or any PC Robot guidance using Matrox Design Assistant February 2015
Matrox Design Assistant » DA 1. 0 – DA 3. 0 » Matrox IRIS GT » DA 4. 0 » Matrox IRIS GT » Matrox 4 Sight-GPm Ver 4. 0 » General PC » Gig. E Vision » DA 4. 0 SP 1 » Denso Robot Ver 3. 0 Ver 4. 0 (2012) (2014/5) Ver 2. 0 (2008) » USB 3 Vision Ver 1. 0 (2005) Robot guidance using Matrox Design Assistant February 2015 im. canon-its. jp + SP 1 (2015)
Matrox Design Assistant IDE Test and run flowchart steps View flowchart with image or operator interface layout Contextual guide for flowchart step Navigate flowchart Configure flowchart step Robot guidance using Matrox Design Assistant February 2015 View flowchart results
Flowchart steps » Flow control » Image processing and analysis » Enhance and transform images » Locate objects » Extract and measure features » Read character strings » Decode identification marks » I/O and communication Robot guidance using Matrox Design Assistant February 2015
System integration » Matrox Design Assistant projects interface to automation equipment and enterprise systems through » Ethernet protocols (Ether. Net/IP™, MODBUS®, PROFINET and TCP/IP) » native robot interfaces (ex. DENSO) » discrete digital I/Os (on Matrox smart camera and vision system) Robot guidance using Matrox Design Assistant February 2015
Run-time operator interface Accessed from Internet Explorer® Image with annotations Inspection status Inspection results Operator inputs Flimstrip view Robot guidance using Matrox Design Assistant February 2015
Deployment options Robot guidance using Matrox Design Assistant February 2015
Matrox Iris GT smart camera » Efficient Intel® Atom® processor » Choice of different sensor resolutions and speed » Gigabit Ethernet, KVM and GPIO interfaces Robot guidance using Matrox Design Assistant February 2015
Matrox 4 Sight GPm vision system » Fanless design in a small rugged housing » Capable 3 rd generation Intel® Core® processor » Multiple Po. E and USB 3. 0 ports for Gig. E Vision® and USB 3 Vision™ cameras » Real-time digital I/Os Robot guidance using Matrox Design Assistant February 2015
Robot guidance with DENSO-Matrox » 2 D vison-guided robotics » Objects to locate and pick rest on a common plane » Fixed camera viewpoint » Camera mounted overhead or on end of robot arm Robot guidance using Matrox Design Assistant February 2015
Prerequisites DENSO Matrox » Rob. Com COA provider for » Matrox Design Assistant 4 RC 8 robot controller Robot guidance using Matrox Design Assistant February 2015 with Service Pack 1
Prerequisites Runtime Development Matrox IRIS GT 1200 DENSO VS-050 4 Sight. GPm Gigabit Ethernet Matrox 4 Sight. GPm DA 4. 0 IDE Robot guidance using Matrox Design Assistant February 2015 Switching HUB
Network socket-based communication Socket client Socket server Initialize Connect Listen Verify connection Receive request Send results Receive results Robot guidance using Matrox Design Assistant February 2015
RC 8 programming (Pac. Script) » Bind socket … Send. And. Recieve: Do ' Move to home position Move P, @P HOME_POSE » Wait for connection ' Open the gripper Move. Gripper &h. A 0, &h. FF ' Send current position and request the sensor to find the object Call Send(0, cao. Ctrl) » Send request to ' Get the position of the object P 20 = Receive(cao. Ctrl) If Pos. X(P 20) == 0 AND Pos. Y(P 20) == 0 AND Pos. Z(P 20) == 0 then Goto Send. And. Recieve End If locate object ' Move over the object Dim Over. Point as Position Over. Point = P 20 Let. Z Over. Point = Pos. Z(Over. Point) + 50 Move P, @P Over. Point delay 500 » Obtain location of object » Etc. Robot guidance using Matrox Design Assistant February 2015 ' Move to pick the object Move P, @P P 20 delay 500 ' Close the gripper to pick the object Move. Gripper &h. E 0, &h. FF …
Matrox Design Assistant project » Configure platform to connect to RC 8 controller Robot guidance using Matrox Design Assistant February 2015
Matrox Design Assistant project » Add flowchart steps » Robot. Wait » Wait for request from robot program to locate next object » Request includes current robot pose sextet: X, Y, Z, RX, RY, RZ » Robot. Writer » Return object location (pose) to robot program » Returns pose sextet: X, Y, Z, RX, RY, RZ (Z, RX, RY unused) Robot guidance using Matrox Design Assistant February 2015
Calibration considerations » Establish common coordinate system for robot and vision system » Robot and vision system are calibrated separately using same reference points Robot guidance using Matrox Design Assistant February 2015
Calibration considerations » Robot is calibrated by » moving its tool to each reference point » recording each position in the robot’s coordinate system Robot guidance using Matrox Design Assistant February 2015
Calibration considerations » Vision system is calibrated by associating each robot position with the same point in the image Vision system is then able to return positional results in the robot’s coordinate system Robot guidance using Matrox Design Assistant February 2015
Calibration considerations » Can do quasi 3 D robot guidance by » calibrating at multiple known planes » switching calibrations when switching work planes Image from www. hamiltonrobotics. com website Robot guidance using Matrox Design Assistant February 2015
Matrox Design Assistant project » Choice of locator steps » Blob. Analysis step » Pattern. Matching step » Model. Finder step Robot guidance using Matrox Design Assistant February 2015
Blob. Analysis step » Locate objects by finding regions of connected pixels (blobs) » Must be able to separate foreground (object) from background pixels » Special pre-processing may be needed » Additional math may be needed to return X, Y, RZ » Fastest method Robot guidance using Matrox Design Assistant February 2015
Pattern. Matching step » Locate objects by looking for a similar distribution of intensity » Directly returns X, Y » Can also return RZ but not the most efficient method » Not suited if subject to non-uniform changes in illumination » Fast method Robot guidance using Matrox Design Assistant February 2015
Model. Finder step » Locate objects by looking for geometric features (edges) » Directly returns X, Y, RZ » Handles occlusion and non-uniform changes in illumination » Not the fastest method Robot guidance using Matrox Design Assistant February 2015
Application with Matrox GPm H/W Trigger Operator View Robot guidance using Matrox Design Assistant February 2015 Strobe Light
请到北京三宝的展台(N 1 #1242)观看实体演示 Robot guidance using Matrox Design Assistant February 2015
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