Adept PC-Based Machine Vision

jabgoldfishAI and Robotics

Oct 19, 2013 (3 years and 9 months ago)

61 views

Adept PC
-
Based Machine Vision

HexSight and Adept iSight

Adept Technology

Leader in Vision
-
Motion Control for Small Parts Assembly & Handling

Fast, robust object location


High performance
-

geometric object location

o
Performs

well

in
harsh

environments

o
Scale and rotation independent


High accuracy

-

1/
50
th

pixel or better


Model
-
based inspection tools

Robustness


Can locate faster in
poorer visibility


Objects can be
occluded
,
overlapping,
touching

Unique
,
powerful contour recognition


Best in subpixel
accuracy


Scales
easily
-

from
simple to complex
object finding

Fast & portable
calibration


Calibration
ensures
excellent
subpixel
accuracy


Calibrate for:

o
lens distortion

o
perspective distortion

o
pixel size


Portable calibration files:
reuse calibrations

Model
-
based object finding



Automatic model
-
teaching


Model creation & edition

o
Create and edit either
programmatically or through User
Interface


Portable Models

o
Save and reuse across applications

o
Share across calibrated vision setups

Model
-
based

tool positioning


Tools can be positioned
on Model instances


Model
-
based tools are
applied to found object in
its “as found” position


Edge Locator, Caliper,
Blob Analyzer, geometric
Finder tools, etc.

Designed for embedding

Integration made easier by multiple packaging options:

o
ActiveX controls

o
DLL C
++ libraries on Windows (fully compatible with .NET
environment)

o
Static C++ libraries


Platform independent

o
Algorithms can be ported to various platforms

and Operating
Systems


o
Algorithms can be ported to
most
processors


HexSight 3.3 Quick Facts


All tools available as C++ Libraries


Fully compliant with the .NET development
environment


New basic setup mode for the Locator


Locator made model
-
based (cascaded)

o
Accurate location of sub
-
features of varying scale and rotation


New application examples

o
How to integrate Locator as a DLL (OEM use)

o
New Locator example

New innovative addition in HexSight 3.3


Locator made model
-
based (cascaded
Locators)

o
Accurate location of
sub
-
features of
varying scale and
rotation

Applications: Automotive

Brake pads inspection

Tire thread inspection

Applications: Consumer Electronics

Disk Drive Head inspection

Disk Drive Cassette inspection

Applications: Electronics Components

Regulators inspection

Applications: Food

Donuts location (for pick) and inspection

Applications: Consumer Products (Cosmetics)

Perfume bottles
identification
and location (for
pick by an Adept
robot)

Vision Guidance Integration




1.
Vision Tools & Algorithms

2.
Camera & Robot Calibration

3.
Transformations & Control

+

+

_________


Adept
Integration
equals

Applications: Refine

Pick

Place

Simplicity

Performance

Supportability

Vision on
-
the
-
fly

Vision
-
based Flexible Feeding

Packaging with vision and conveyor tracking

Value through broadening market applications

Movement

Control

Rigid

Intelligent

Simple

Complex

Pick &

Place

Simple

Assembly

Assemble

Alternate

Parts

Boxing

Take

Out

Multi

Product

Assembly

Vision

Assembly

Conveyer

Tracking

Two

Handed

Work

Load

Unload

Movement

Assembly

Bin

Picking

3D FLEX

Assembly

Small
-
Lot

Assembly

Vision not
required

Vision is added
-
value
to production line

Tightly integrated vision,
“just like a human”

The cost of complexity


Technical risk and cost go
hand
-
in
-
hand

Risk increases as a
multiple

of complexity

Calibration

User interface

Communications

Tolerance

Synchronization

Opportunities

Install

Design

Operate

Maintain


Commissioning time


P污湴⁰牯摵 瑩潮


Se瑵瀠瑩浥



Unscheduled downtime



P
rogramming effort


Se瑵瀠瑩浥

Productivity

Profitability

OEMs


Sharpen focus on
strategic market value,
(not on fine details of
technical components)

Systems
Integrators


Avoid competitive battles on
labor cost


Focus on overall system
(structure, sequence, etc.)

Users


Raise plant ROI by
lowering CAPEX


Increase opportunities
to make money on lower
volume products

Vision guidance made
easy


Combination of Adept
DeskTop, vision
software, camera and
accessories in a single
pre
-
validated package.



Vision Guidance Integration

Vision guidance made easy



Open, PC
-
based system


Turnkey system

o
Out
-
of
-
the
-
box solution

o
Vision software, camera, lens and accessories


Add
-
on to Adept DeskTop and Adept
Cobra i
-
series

o
Seamlessly integrated with Adept DeskTop
environment


Adept iSight Overview


Product family

o
First for Cobra i
-
series, expanding later on to
other controls and mechanisms


Ease of use

o
Point
-
and
-
click vision application
development


Simplicity

o
Robustness of the vision tools makes
deployment easy


Performance

o
Benefits from the fastest and most robust
geometric object locator

Adept iSight Overview

Building an application

A few simple steps…


Calibrating vision and robot
-
to
-
vision


Creating and editing modeles


Creating the vision sequence

Adept iSight User Interface

Drop tools in
the toolbox

Configure the
tool parameters

Watch instances
found

Get found
instances data

Applications: Medical devices

Medical Infusion bags packaging


Multiple mechanisms


One or more cameras


Conveyor tracking with
feeders/conveyors


High precision




Applications:

o
Food packaging

o
Pharmaceutical packaging

o
Flexible part manufacturing

o
Multi
-
product assembly


Applications: Electronics Assembly

Electronics components

flexible feeding and assembly


Applications: Electronics Assembly

High precision screwdriving cell

for disk drive assembly


Applications: Coinage

Quality inspection and location for pick

Backup


Finder Tools


Arc Finder, Line Finder, Point Finder

o
Search Area that is defined by
Position X, Position Y, Width,
Thickness, Radius (for arc), and
Rotation.

o
Multiple instances

o
Results output in either Image,
World, Object, Tool coordinate
systems.

o
Search for Dark To Light, Light To
Dark, or either transition in greylevel
values.

o
Supports edgestrength, sampling,
and tolerance filtering of results

Builder Tools


Computed geometric features that have been created using output
from other tools
-

Arc Finder, Line Finder, Point Finder, or another
instance of the Builder tool.

Arc Caliper


The Arc Caliper tool finds, locates and measures the gap between one
or more edge pairs on an object within a bounded area (called a
Sector).


Arc Caliper uses pixel gray level values within the Sector to build
projections, either annular or radial, needed for edge detection.


Can be applied to multiple instances


Multitude of configuration options and filtering

Sector

Caliper Tool


The Caliper tool finds, locates and measures the gap between one or
more edge pairs on an object within a rectangular bounded area.


Caliper uses pixel gray level values within bounded area to build
projections needed for edge detection.


Can be applied to multiple instances


Multitude of configuration options and filtering

Edge Locators


Arc and rectangular edge detection


Once potential edges have been located, the Edge Locator scores
these edges according to user
-
defined criteria and then returns results
for valid edges it has located.


Blob Analyzer


Finds, labels and analyzes geometric and gray level properties
of irregular shaped objects.

o
Hole analysis,

o
Contour information,

o
Area, position, perimeter, roundness, moments of inertia,
elongation, center of mass,

o
Bounding box characteristics,

o
Gray level statistics

Pattern Locator


Detects low contrast or small features such as letters, numbers,
symbols and logos on a part.

o
Patterns that can provide well defined contours can be modeled and found
by the Locator tool.


Useful for

o
Detecting the presence/absence of a grayscale pattern on a modeled object
(Locator).

o
Finding the rotation of a symmetric object using features on the object.

o
Classifying objects having the same contours by their grayscale features.

Image Processing Tools


Arithmetic Operations


o
Addition, Subtraction, Multiplication, Division, Lightest and Darkest.


Assignment Operations

o
Initialization, Copy and Inversion.


Transform Operations

o
Fast Fourier Transform, Discrete Cosine Transform (DCT) output as 1D Linear,
2D Linear, 2D Logarithmic or Histogram.


Logical Operations


o
And, Nand, Nor, Or and Xor.


Filtering Operations

o
Convolution operation using standard or custom kernal. Filters include
Average, Gaussian, Horizontal Prewitt, Vertical Prewitt, Horizontal Sobel,
Vertical Sobel, High Pass, Laplacian, Sharpen, SharpenLow and Median


Morphological Operations

o
Dilate, Erode, Close and Open


Histogram Operations

o
Equalization, Stretching, Light Threshold and Dark Threshold


Image Sharpness Tool


Used for verification or validation of the image
sharpness of an image before it is processed
by other tools.

o
Can also be used as a building block for
implementing auto focus with motorized focus lens
using sharpness value to close the loop.


Other Tools


Histogram Tool


Sampling Tool


Barcode Reader

o
Code 128, UPC
-
E, Code 39, UPC Supplemental, Code 93, PDF
-
417, Interleaved 2 of
5, BC 412, Codabar, Postnet, UPC/EAN, Pharmacode


OCR Fixed Font

o
Up to four lines of character strings having same font.

o
SEMI, OCR
-
A, and OCR
-
B.


Data Matrix Reader (2
-
D Symbology)