robot guidance using matrox design assistant vision software

Robot guidanceusing Matrox Design Assistant vision

software

Robot guidance using Matrox Design AssistantFebruary 2015

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


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


Matrox Imaging product line

Vision softwareMatrox Imaging Library (MIL) and Matrox Design Assistant

Smart cameras

Vision systems / industrial computers

Frame grabbersAnalog, Camera Link®, Camera Link HS™, CoaXpress®, DVI-D and SDI

Vision processorsFrame grabbers with FPGA-based processing


Matrox Design Assistant

» Integrated Development Environment (IDE)for designing vision applications

» Construct and configurelogic using a flowchart

» Layout and configureoperator interface (HMI)

» Deploy project toMatrox smart camera, vision system or any PC


Ver 1.0(2005)

Ver 2.0(2008)

Ver 3.0(2012)

Ver 4.0(2014/5)

Ver 4.0 + SP1

(2015)

im.canon-its.jp

Matrox Design Assistant» DA 1.0 – DA 3.0

» Matrox IRIS GT

» DA 4.0

» Matrox IRIS GT

» Matrox 4Sight-GPm

» General PC

» GigE Vision

» DA 4.0 SP1

» Denso Robot

» USB3 Vision


Matrox Design Assistant IDE

Contextualguide forflowchart step

View flowchart with image oroperator interface layout

Navigateflowchart

View flowchart results

Test and run flowchart steps

Configure flowchart step


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


System integration

» Matrox Design Assistant projects interface to automation equipment and enterprise systems through» Ethernet protocols

(EtherNet/IP™, MODBUS®, PROFINET and TCP/IP)

» native robot interfaces(ex. DENSO)

» discrete digital I/Os(on Matrox smart camera and vision system)


Run-time operator interface

Image with annotations

Accessed fromInternet Explorer®

Flimstripview

Operator inputs

Inspection results

Inspection status


Deployment options


Matrox Iris GT smart camera

» Efficient Intel® Atom® processor

» Choice of different sensor resolutions and speed

» Gigabit Ethernet, KVM and GPIO interfaces


Matrox 4Sight GPm vision system

» Fanless design in a small rugged housing

» Capable 3rd generation Intel® Core® processor

» Multiple PoE andUSB 3.0 ports forGigE Vision® and USB3 Vision™ cameras

» Real-time digital I/Os


Robot guidance with DENSO-Matrox

» 2D 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


Prerequisites

DENSO

» RobCom COA provider for RC8 robot controller

Matrox

» Matrox Design Assistant 4 with Service Pack 1


4SightGPm

GigabitEthernet

Matrox IRIS GT 1200

Matrox4SightGPmDA4.0 IDE

DENSOVS-050

Switching

HUB

Prerequisites

Development Runtime


Network socket-based communication

Initialize

ListenConnect

Send request

Send results

Receive request

Verify connectionVerify connection

Receive results

Socket client Socket server


RC8 programming (PacScript)

» Bind socket

» Wait for connection

» Send request to locate object

» Obtain locationof object

» Etc.

…

SendAndRecieve:

Do' Move to home positionMove P, @P HOME_POSE

' Open the gripperMoveGripper &hA0, &hFF, &hFF

' Send current position and request the sensor to find the object

Call Send(0, caoCtrl)

' Get the position of the objectP20 = Receive(caoCtrl)If PosX(P20) == 0 AND PosY(P20) == 0 AND

PosZ(P20) == 0 thenGoto SendAndRecieve

End If

' Move over the objectDim OverPoint as PositionOverPoint = P20LetZ OverPoint = PosZ(OverPoint) + 50Move P, @P OverPoint

delay 500

' Move to pick the objectMove P, @P P20delay 500

' Close the gripper to pick the objectMoveGripper &hE0, &hFF, &hFF

…


Matrox Design Assistant project

» Configure platform to connect toRC8 controller



» Add flowchart steps

» RobotWait

» Wait for request from robot program to locate next object

» Request includes current robot pose sextet: X, Y, Z, RX, RY, RZ

» RobotWriter

» Return object location (pose) torobot program

» Returns pose sextet: X, Y, Z, RX, RY, RZ

(Z, RX, RY unused)


Calibration considerations

» Establish common coordinate system for robot and vision system

» Robot and vision system are calibrated separately using same reference points



» Robot is calibrated by

» moving its tool toeach reference point

» recording each positionin the robot’s coordinatesystem



» 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



» Can do quasi 3D robot guidance by

» calibrating at multiple known planes

» switching calibrations when switching work planes Image from www.hamiltonrobotics.com website

http://www.hamiltonrobotics.com/



» Choice of locator steps

» BlobAnalysis step

» PatternMatching step

» ModelFinder step


BlobAnalysis 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


PatternMatching 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 tonon-uniform changes in illumination

» Fast method


ModelFinder 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


Application with Matrox GPm

H/W Trigger Strobe Light

Operator View


请到北京三宝的展台（N1 #1242）观看实体演示

robot guidance using matrox design assistant vision software

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