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1. lt gt 1 6 6 1 1P6 TP t 6 6 a ee ee EEp EE ee ee Oe eg ARR Enos ey STI ATER EEE EEE mean ean nee Se eR Oe SR ee ee Pn aa A ny an eh mentee E et Pn pn RA ERE a ee he GE a en ee RE The EPZG tool is configured in a very similar way to the Prelocalization tool Therefore in order not to reproduce the same step twice the 1 step consist of simply copy 1 to 1 the Stepl prelocalization tool by right clicking on the 01 tab see Figure 6 24 Click on the gt button to run the tool a r DU ZZ Ze E22 A Define the value of the exculsion zone Kernel size always an odd value and the maximal value is 49 pixels The Kernel size value must be selected in accordance with the size of the nozzle of your robot gripping device in order not to take two parts at once during suction for example jt OE EE EEE E E EE E E E E E E EEE EE EEE EEE EEE EE EE EE E ee ee EE EE EEE EEE E lt Kernel Size Figure 6 23 Defining the Kernel size parameter User Guide Smart Sight Asyril SA 38 52 T xperts in i h A il A a syril Flexible Feeding Systems BT GAA S Copyright Asyril S A Programming the Vision model v2 1 FO 32 03 118 AsyView Teaching Localization cell module vision default L Ea 24 59 u Settings Region Measurements Graphic
2. 84 2 Vision configuration Ch 5 New configuration or PO 8 new gt Select the vision process type modification 0 modification 85 1 Open the vision teaching Modify th odify the current process LI interface Set the illumination Timeset and create new one s if necessary 85 2 Program the vision model Ch 6 Finish the configuration and test the model Ch 7 Adjust the Pick amp Place Process parameters Not documented here see the corresponding process equipment Save the recipe 873 Figure 3 1 main scenario to configure or modify a vision and feeding recipe User Guide Smart Sight Asyril SA 10 52 V Expertsin Smart Sight Asyril SA a S ril Flexible Feeding Systems User Guide Copyright Asyril S A Configuring the Asycube v2 1 FO 32 03 118 Step 1 Click on the asycube button i i PRESETS a A A A A E A A A A A A E A A E E A NN A A AA AA NNN NN NNN NN NN NN NN NN NN TN TN NN TN NN NN NN NN TN NN NNR NN TN NN NN NN NN NN NN NN NNN NN SN TN NN NN NN NTN NN NT NTN NNN NNN NNN TN NTN NTN TT TN TN NTN TN NN TTT 1 1 I Step 2 Click on the Platform Reservoir tab i i BEER aaa 1 1 1 Modify and test a the vibration parameters of the standard movements to adapt them to your components Step 3 Lun i Vibrations of the Asycube platform and reservoir b Pay particular attention to configure also the vibration time batch c
3. User Guide Smart Sight Asyril SA 6 52 P 4 xperts in i h A il A a syril Flenible Feeding Systems a a S Copyright Asyril S A Introduction FO 32 03 118 1 3 HMI functionalities 1 3 1 Control unit The control unit Vision PC is supplied pre configured and ready to use IMPORTANT A This unit is configured for Asyview and HMI software programs ONLY Failure to respect this instruction will invalidate the warranty 1 3 2 Parties involved This table defines the roles assigned to each professional permitted to work on the Asyview system during its life cycle Operator Technician Integrator Acquiring an image 5 an image e o ee a recipe Create Modify a recipe a a a a recipe e an operator Advanced access to Advanced access to Asyview Pe access to the HMI Table 1 2 Parties involved User Guide Smart Sight Asyril SA 7 52 P 4 i 4 Experts in _ Smart Sight Asyril SA l a syril Flexible Feeding Systems User Guide Copyright Asyril S A Setting up the system FO 32 03 118 2 Setting up the system The system is pre configured by Asyril with the ordered components and corresponding architecture By defaut we will describe the simple case 1 Asycube 1 camera asyril y ema shortcuts alarms 4 13 2015 recipes options login vision welcome message welcome on Asyril HMI home my products OKT asyview recipes Module As Pr
4. 01 Exclusion Model I LLL S T a IPT ON NO ENI EO NS OI OE ama a a a a ESS CA ORO A a i Select the Exlusion Model tab the detection inside the exclusion zone is always based Step 6 on the same tool than the Prelocalization Simply adjust the minmal size of the element to detect and their threshold exclusion criteria CORRIERI RE RIA EIA SCE EEE EEE EEE Oe OE Se Oe gee INIST EE EHE EEE EEE EEE EEE EEE Eu Eu Eu Step 7 Select the Settings tab Select the threshold or copy the Prelocalization tool into the Exclusion Model by right SIEP 3 clicking on the 01 tab The Min Area value specifies the minimal size of any detected feature to be detected Step 9 Normally it can be let atthe default value 10 but can be adjusted in case for example of BE a non uniform background ______ _ _c Step 10 Select the Measurements tab Step 11 Delete all the Properties or set all Filter to Runtime could be present when copying the exclusion model from the prelocalization User Guide Smart Sight Asyril SA 43 52 T xperts in Si ht A il SA 3 a syril Flexible Feeding Systems BT G Copyright Asyril S A Programming the Vision model FO 32 03 118 NA SE EEE gt E Prelocalization Model Finder Empty Picking Zone Growing Empty Picking Zone Region Localization Results Feeding Information 01 Accepted Candid
5. G User Guide Smart Sight Asyril SA 19 52 T xperts in i h A il A a syril Flenible Feeding Systems BT GAA S Copyright Asyril S A Programming the Vision model v2 1 FO 32 03 118 6 1 1 Tricks and shortcuts By right clicking on the 2 tabs level B it is possible to access to functionnalities as Activation amp de activation of a model o This last one is kept in memory but can be de activated for test purpose for instance o Note that it must have at least 1 active prelocalization model 1 model finder and 1 feeding information model to allow a correct behavior of the system Removing a model o This is definitive no way to reload it only if you had previously saved a recipe by reloading it o Note that it must have at least 1 active prelocalisation model 1 model finder and 1 feeding information model to allow a correct behavior of the system Copy From To o Allow to import the model parameters from a previously configured one or to export them to a specified target o Note that this function is available only inside the current recipe Image selection o Allow to define which image has to be used at each step of the vision process o Note that the prelocalisation is applied always on the first picture usually with backlight illumination The Run button gt on top left allows running all analysis in the right order to reactualize the results if the acquisition timesets or a previous model have changed o
6. User Guide Smart Sight Asyril SA 25 52 T xperts in Smart Sight Asyril SA l a syril Flenible Feeding Systems ted 4 Copyright Asyril S A Programming the Vision model v2 1 FO 32 03 118 6 2 3 Configuring the tool BOUNDING BOX tab Sa RL LR TORA a a I H U a ka ss gg I Pay particular attention to the configuration of this tab if you have chosen to detect a hole in a part In fact the surrounding rectangle subsequently called the bounding box must contain the ENTIRE part iian Teaching Localization cell module vision default E 2 Prelocalization Model Finder Empty Picking Zone Growing Empty Picking Zone Region Localization Results Feeding Information 01 Tem Settings Inputs Graphics Results i ea Factor SideX 12 vi locked Factor SideY 125 205 Oriented default Not Oriented In the scale factor input field choose a multiplication factor that makes it possible to Step 18 extend the initial bounding box For non symmetrical part it is possible to unlock the fields and choose different value for each direction The initial bounding box is defined as the smallest rectangle able to contain the entire blob Bounding box Figure 6 10 Defining the Blob and Bounding Box Enlarged bounding box ne aaa aa a a aa aa E nn S A a In the Mode Oriented means that the bounding box will be oriented al
7. recipes Figure 7 3 Permanently saving a recipe Bu a NE rl Dane a a aa a a a a a a a a a a Da a a a a a a a a a a ias a a a a a az a a a a La ae a a ACQ a a ea a a a a a a a a a a a a a a a a a a za a a a az a a a a a a a az a a a a a a a a a a a a aa a a rr acorar a IS A ATTI DEE Ir rar Er GE ra a Dar ran rn rar rar ar rl rer rar or Br or or or or or or or or or or or oo or or oo a a SR RRS AAA DI EEE nt E EEE I E E E Tan a E It is possible to select the type of recipe to save For example only the feeder Step 3 parameters or the whole recipe including all the cameras and feeders depending the configuration aaa aN a a iii iii If the descriptor of your recipe is no longer displayed click on the select button and Step 4a choose your recipe then click on open Siena Click on the save button to save on the selected recipe or the save as button for a ep i new recipe IMPORTANT NOTE The Asyview and HMI state will change to loading in the header screen the LED becomes yellow Wait until the state has changed to Configuration Idle green LED before moving on to the next step this operation may take some time NOTE Ensure that you give your recipe a detailed name in order to be able to find it easily IN CASE OF Asyfeed Pocket CELL or MODULE The complete recipe rec should be saved in that case including the ARL process and its parameters Please re
8. 6 1 Overview By clicking on add or modify on the HMI teaching tab the following window will then appear AsyView Teaching Localization cell module vision default gt Di BEN BT Figure 6 1 General overview of the Asyview Teaching window Re Designation pennan 1 level of tabs Each tab corresponds to a specific tool Prelocalization Model Finder Empty Picking Zone Growing EPZG Empty Picking Zone Region EPZR Localization Results Feeding information 2 level of tabs This set of tabs notably contains the tab which enables to activate one model and also to apply several models to detect the good parts for example when different parts have to be detected as the good ones In this case the system will add the results of each detection and ensure to not detect twice the same position 3 level of tabs The content of these tabs will be described in the following sections Buttons The main buttons used include associated with DI the 3 level of Run button tabs Run continuously button Fa 4 level of tabs Clicking on the tabs will display the specific content in zone F Zone specific to The content of this zone will be described in detail in the following each tab sections G Image selector Select the image you want to display in this selector original image train impage with markers of the results etc This screen displays the image chosen in the selector
9. Finder Empty Picking Zone Growing Empty Picking Zone Region Localization Results Feeding Information Y Rotation 1469 5465 0 2477 Figure 6 28 Empty Picking Zone Region tool 01 Boundary with the Annular Area type 2 a I EEE o pn ene IE Step 3 Select the Boundary tab to define the shape size and offset for the outer shape Step 4 select the part ID that can be used as the reference to define the boundary Select the geometry of the boundary as well as its size and offset The shape is draw Step 5 PE ee _r __rrrrr rrr r rr r NOTE i If the type Annular Area is selected both the inner and the outer shape are defined here Figure 6 28 User Guide Smart Sight Asyril SA 42 52 T xperts in Smart Sight Asyril SA l a syril Flenible Feeding Systems ted 4 Copyright Asyril S A Programming the Vision model FO 32 03 118 AsyView Teaching Localization cell module vision default AsyView Teaching Localization cell module vision default K K Prelocalization Model Finder Empty Picking Zone Growing Empty Picking Zone Region Localizati Prelocalization Model Finder Empty Picking Zone Growing Empty Picking Zone Region Localizatio v Sorting Enabled Exclude Mode ia Measure l Area 2 Area Angle 0 dea e 714 BlobRLE EM eia 5 Topology 4 1321ms 38 668ms 4 1321ms 38 668ms Figure 6 29 Empty Picking Zone Region tool
10. refer to another manual or A A A i another page of the current manual IMPORTANT Asyril cannot be held responsible for damage to property or persons caused by failure to respect the instructions specified in the Safety instructions paragraph It is the customer s responsibility to inform the personnel concerned NOTE All dimensions and values in this manual are expressed in millimetres mm gt User Guide Smart Sight Asyril SA 5 52 P 4 xperts in i h A il A a syril Flenible Feeding Systems BT a S Copyright Asyril S A Introduction v2 1 FO 32 03 118 1 2 Other manuals The table below provides a list of documents supplied with the product Each of these manuals forms an integral part of the set of documentation associated with the product This manual contains all the information for the users on how to use and configure a new recipe feeding and vision recognition Manual title Reference Description of the content Contains a technical description of the Smart Sight iii _ roduct its functionalities an Operating SIGHT XXX p y N b rovides maintenance and transpor Manual 02_Operating_Manual i p information concerning the product Contains a description of the product s Smart Sight _ operation and the information relatin Programming SIGHT XXX p g manual product in terms of programming Be THIS MANUAL User Guide SIGHT XXX 02_User_Guide Table 1 1 Other manuals
11. st Check that the parts vibrate uniformly in the right directions without coming out of the ep platform using buttons in the home tab or in the shortcut home platform reservoir backlight process scripting console configuration function rexecute selected ba manage batches _ ____ __ rr A home default file sa 2 O asyview E AsyCube gt x J Vision recipes actuators parameters actuator 1 actuator 3 actuator actuator 5 user amplitude amplitude custom batches x configuration frequency H _ frequency phase y waveform waveform actuator 2 r lock frequencies amplitude locked frequency phase waveform rasyview syCube r general Pd a SV r start reload statistics stop cleaning reset recipes options login vision Figure 4 2 Test of the part displacements on the shortcuts button IMPORTANT NOTE The vibration time must always be configured as the time required to the parts to cross the User Guide Smart Sight Asyril SA 11 52 platform in the corresponding direction T xperts in i h A il A a SVT Flexible Feeding Systems BT GAA S Copyrig ht Asyril S A Configuring the Asycube v2 1 FO 32 03 118 NOTE 2 The vibration buttons D are only made available outside production The Asyview must be in configuration mode in order for the buttons to appear If this is not the case click on the
12. stop button under the Asyview shortcuts tab 4 2 Configuring the vibration process EROGATA RITO ETA TO RI RARA O RATA RIE ERO RIGO oD I CONTE CENNO NING YoY NE ER NE OCT TO nee ane Near CRCR GERE RR RR ERRE FREIRE ZZZ ZZZ ZZZ EEN ERRE TETTE TTT Step 1 Click on the asycube button i i en GE 1 1 I Step 2 Click on the Process tab MANINA IE aa eee ee ee ee ee ER TN Click on the Planar plate or Structured plate button to load the default parameters associated with your platform or load an existing configuration i i aE 1 kam u au a a u u u a a aa I u un u aaa u aaa a au az Da ua u aaa Du au u a Dam a a Du au Dan a Da Zu an Dan Da nu a nu au an a au a Dan ana Du aaa Du Du Dana Daun Dun Dan a a Dan Du nu u nu Da an nu Dan an au a a u u nu a a aa aa aaa m Zu a a aa a Da a a a aa an u nu an nu an a an nu a au au aaa aa a a a a a a a a a a a a a a a a a a a a a a a a a aa a ana l oumir 1 1 Step 4 If necessary modify the paremeters of the process sequences 1 NOTE You can freely modify these parameters duration sequence order of vibrations and work also in advanced mode if necessary in order to configure the sequences specific to the feeding and recirculation phases In all cases remember to finish with a stabilisation time to prevent the parts from moving when a photo is being taken I 1 I 1 1 b r aaa I 1 home
13. that Step 22 the option Rotation is only available if the pick position is the Control result and not the Detection result cf 6 3 2 ween ee ee ne ee nn ne ee nn nn en nn en nn nn nn nn nn ee nn nn en ne nn ee en ne en nn nn nn nn ne nn en nn en en ne nn ee nn ee nn ee nn ne nn ne en en ee ne ee ee User Guide Smart Sight Asyril SA 34 52 T xperts in i h A il A a syril Flenible Feeding Systems BT GAA S Copyright Asyril S A Programming the Vision model v2 1 FO 32 03 118 6 3 8 Configuring the tool RESULTS tab In the previous tab we configured the model to enable the tool to distinguish a correct part from an incorrect part In this tab we are going to test this model on each of the candidates selected by the prelocalization tool Inputimage E Prelocalization u 7 ma Ba i s e Sia u tt Sila 7 m n oc Sao oe es at TRO aw oc oc ne Figure 6 19 Model Finder tool Schematic algorithm The candidates found by the prelocalization tool are displayed in the Inputs tab of the tool in which we are currently working model finder These inputs can also be consulted visually by selecting CurrentInput Image from the image selector User Guide Smart Sight Asyril SA 35 52 User Guide Programming the Vision model FO 32 03 118 P 4 i 4 a syril Flexible ais Systems guia S i I s Copyright Asyril S A AsyView Teaching Localizati
14. toss differentiation amp precise localization on the 1 Detection default or a 2 image Geometrical Feature Two geometrical successive searches possibly on different images one Detection amp Control for localization purpose the other for pitch amp toss differentiation Parts where the pitch amp toss detail is not compatible with precise localization purpose Parts where the pitch amp toss detail has not the same position on all parts Geometrical Feature Geometrical detection followed by a control of the surface characteristics Detection amp Surface possibly on different images Control Contour detection for localization Different surface characteristics between pitch amp toss Note that the surfaces to detect must be repeatable also considering their imperfections Table 6 1 Model Finder tool type User Guide Smart Sight Asyril SA 27 52 T xperts in Smart Sight Asyril SA l a syril Flenible Feeding Systems ted 4 Copyright Asyril S A Programming the Vision model FO 32 03 118 The position of pick will be defined within this tool By default it corresponds to the detection result and it is specified directly in the geometrical model But precise localization and differentiation of the pitch amp toss of parts can be done on different images Therefore the output position result pick position can also be defined according to the specific need as explained in Table 6 2 Pick position output
15. B AB BBR SS IE Sh RRS SB ak RT RB ae Paige one ie ar ne ne ee ne ee ge ne pera epee fe peepee Se SSeS eal a OT aa maw a mR ca a a ie nia a ip a Inthe image selector choose Current Histogram Step 3 b Depending on the histogram change the threshold value of the number of pixels according to the level of grey as shown in the Figure 6 3 ee nl a u u a u a a nN ae nM ben Step 4 LastRun Inputlmage from the image selector Modify the threshold value if necessary and run again if necessary User Guide Smart Sight Asyril SA 21 52 P 4 xperts in i h A il A a SVT Flenible Feeding Systems BT GAA gt Copyright Asyril S A Programming the Vision model v2 1 FO 32 03 118 i IMPORTANT NOTE The threshold represents the limit between a part and the background in the greyscale range 1 to 255 Depending on the chosen illumination for the 1 image the polarity might be inverted if the parts are light on a dark background 6 2 2 1 Picking area Optionnaly it is possible to reduce the zone in which you want to find components CIO OOO O nn a ni You can draw a rectangle by choosing cog rectangle otherwise search the entire image by selecting lt None Use Entire Image gt Region Shape lt None Use Entire Image gt Figure 6 4 Prelocalization tool 01 Model Region User Guide Smart Sight Asyril SA 22 52 T xperts in Smart Sight Asyril SA l a syr
16. Detection tab iii 28 6 3 4 Configuring the tool Detection Advanced tab ii 31 6 3 5 Configuring the tool ControlSettings tab ii 32 6 3 6 Configuring the tool Control Model tab 33 6 3 7 Configuring the tool Control Advanced ap sss 34 6 3 8 Configuring the tool RESULTS aD ere erierierie rei rienza 35 6 4 EXCLUSION ZONE DEFINITION sla 37 6 4 1 Empty Picking Zone Growing EPHZOGL sse 38 6 4 2 Empty Picking Zone Region EPZR cccccccccccccssccccesscccsesseseesseeecsseeeesenseecessseeeeseaeseseaas 40 6 5 EOCALIZAHON RE ULT Ss a este es nee ee ee nee 45 6 6 FEEDING INFORMATION een ee RE 46 User Guide Smart Sight Asyril SA 3 52 T xperts in i h A il A a syril Flenible Feeding Systems BT GAA S Copyright Asyril S A Introduction FO 32 03 118 7 END OF PROGRAMMING w 0 cccccccssssscccccsssccccccssccccccccsccccccccscsccccccscccccscccceccsssccsccsssecess 47 7 1 CLOSING THE ASYVIEW TEACHING WINDOW ricci eee 47 7 2 TESTING THE VISION MODEL eee iii ee eee eee eee eee eee 48 7 3 PERMANENTLY SAVING THE VISION MODEL ssseccccccssecccccccececccccaececccccaeccccceuaeceececeaeesess 49 8 TECHNICAL SUPPORT lariana 50 8 1 FOR A BETTER SERVICE aliena 50 8 2 CON 50 REVISION TABLE lara lil 51 User Guide Smart Sight Asyril SA 4 52 T xperts in i h A il A a syril
17. Flexible Feeding Systems a a S Copyright Asyril S A Introduction v2 1 FO 32 03 118 1 Introduction 1 1 General information This document is the property of Asyril SA it may not be reproduced modified or communicated in whole or in part without our prior written authorisation Asyril SA reserves the right to modify any information contained in this document for reasons related to product improvements without prior notice Before using the product please read this entire document in order to ensure that the product is used correctly However if you encounter difficulties when using the product do not hesitate to contact our customer service department In this manual the safety information that must be respected is split into three types Danger Important and Note These messages are identified as follows DANGER Failure to respect this instruction may result in serious physical injury DANGER This instruction identifies an electrical hazard Failure to respect this instruction may result in electrocution or serious physical injury due to an electric shock IMPORTANT Failure to respect this instruction may result in serious damage to equipment NOTE The reader s attention is drawn to this point in order to ensure that the product is used correctly However failure to respect this instruction does not pose a danger Reference For more information on a specific topic the reader is invited to
18. G Y syCube Vison asyview Du IU IDLE user Connected Connected Connected Connected Connected configuration Figure 2 1 Home page of the HMI 1 show the architecture of the connected and pre configured devices 2 access to the configuration steps and monitoring IMPORTANT NOTE If you have several cameras Asycube camera control camera etc the asyview screen will be duplicated for each camera Here below Figure 2 2 is a simple description of what to settle and the main procedure after placing the Asycube and vision devices on the machine IMPORTANT A Those parameters have to be set in the begginining of the setting up of the machine Every modification of these parameters will break the calibrations and the recipes User Guide Smart Sight Asyril SA 8 52 User Guide Creating and configuring a recipe l FO 32 03 118 Asycube and vision system prealigned on the setup v Use the LIVE tab to help adjusting the camera position field of view and focus flip and or rotate the image to fit with the real situation in case of mirror orientation of the camera feeder T i 4 a syril Flenible reading Systems mal Sight i ze SA Copyright Asyril S A If necessary configure your IMAGE Only for special configuration for example CONFIGURATION 1 camera on 2 feeders 1 control camera CALIBRATION With a calibration _ _ _ _e No pattern YES PX MM ca
19. Output Remark Detection Pick position Result of the By default geometrical detection Control Pick position Result of the Not available with Geometrical geometrical or surface control Feature Detection Table 6 2 output position result configuration 6 3 3 Configuring the tool Detection tab Click on the Model Finder tab then on the Model tab and finally on the Train parameters tab to display the screen below Load paten Save Pattem info Pattem may run slowly due to predominance of fine features manual overid m Step 1 Choose the patMax amp PatQuick algorithm i i PRENN aa Step 2 Click on the Grab Train Image button 1 l rn 1777 tt ttt rt een en en en nn nn nn en nn rn nn nn nnn nn nn nn nn nn nn nn nn nn nn nn en nn nn nn nn nn nn nn nn nnn nn nn nn nnn nnn nen nn nn nn nn nn nn nn en en en nnn nn en nn nn nn nn nn nn nn nn nn nn nn nnn nnn nnn nnn n nnn nn 1 1 1 Step 3 Choose Current Trainlmage from the image selector User Guide Smart Sight Asyril SA 28 52 T xperts in ight A il SA a SVT le Feeding Systems a no gt Copyright Asyril S A Programming the Vision model v2 1 FO 32 03 118 AsyView Teaching Localization cell module vision default Prelocalization Model Finder Empty Picking Zone Growing Empty Picking Zone Region Localization Results Feeding information Cu
20. ain image copy the corresponding region and center in the model so you then only need to press the Train button NOTE With the option Geometrical Feature Detection amp Surface Control it is obligatory to choose the component to be used as a reference before going to the next step User Guide Smart Sight Asyril SA 32 52 T xperts i h A il SA x a syril ber Feeding Systems a no Copyright Asyril S A Programming the Vision model v2 1 FO 32 03 118 6 3 6 Configuring the tool Control Model tab NOTE This tab is not available when chosing the option Geometrical Feature Detection 6 3 6 1 Geometrical Feature Detection amp Control The method is similiar to the Detection Model 6 3 3 The goal is to detect the detail that distinguishes a good from a bad part for pitch amp toss for example and not the entire part The train region should so be adapted to the detail to detect 6 3 6 2 Geometrical Feature Detection amp Surface Control gen Z DE for la Settings Detection Model Detection Advanced ContrlSettings Contro Model Forti Advanced Resute Z Ea east JB AL Train Params Lr in Regon t Onon Fun Fons sh Regon Goo Re LastRun inputimage E Train Mode S z j era zj Grab Train Image j ae L Save Pattem S 4 K A m Detect
21. art Sight Asyril SA l a syril Flenible Feeding Systems ted 4 Copyright Asyril S A Configuring the vision FO 32 03 118 Proceed to the vision model programmation on the teaching window the button lt gt on the HMI allows to easily switch from the HMI window to the Vision teaching window For information about the different parameters and available option in the teaching window refer to chapter 6 Programming the Vision model IMPORTANT NOTE To take in consideration the adjustment of the timeset click on the Run button This action must be done at least one time when programming a new recipe to allow the correct allocation of the pictures Teaching Localization cell module vision default Preloedization Model Finder Empty Picking Zone Growing Empty Picking Zone Region Localization Results Feeding Information 01 Model Bounding Box k PI gt N B ah Settings Region Measurements Graphics Results Segmentation Connectivity Mode Mode Hard Threshold Fred v Grey Scale lt Polarity Cleanup Dark blobs Light background Fill v Threshold 128 Min Area 10 Pels Figure 5 5 Vision teaching window User Guide Smart Sight Asyril SA 18 52 T xperts in ight Asyril SA l i a SVT SUS Feeding Systems BT GAA gt Copyright Asyril S A Programming the Vision model FO 32 03 118 6 Programming the Vision model
22. as possible to the Boundary l part contour Detected region Search inside the zone between the contour of the part and a defined outer shape Part contour to e For complex part shape boundary Part contour e The slowest method Boundary Exclusion zone Table 6 4 EPZR Types description User Guide Smart Sight Asyril SA 40 52 T xperts in i h A il A a syril Flenible Feeding Systems BT GAA S Copyright Asyril S A Programming the Vision model v2 1 FO 32 03 118 6 4 2 2 Tool configuration The configuration is very similar for all the three types of EPZR 1 Select the type 2 Define the outer boundary of the exclusion zone 3 Parameterize the exclusion model in order to detect any element that could be present in the exclusion zone 4 The last tab consists of the results list of all candidates that passed the previous model detection All these steps are described here below AsyView Teaching Localization cell module vision default A Prelocalization Model Finder Empty Picking Zone Growing Empty Picking Zone Region Localization Results Feeding Information gt L Type Boundary Exclusion Model Results Select Type Curent inputimage Part Contour to Boundary Detected Region to Boundary default Annular Area Figure 6 26 Empty Picking Zone Region tool 01 Type BE Te a RL RL aa a a a a a a a le nc a ace tt a a a a a a I AIA GIOR Dt na ie Re a Le nn at S
23. asyril eS Smart Sight User Guide Document Asyril_AVIEW XXX XX_User_Guide_E AVIEW XXX XX XX XX XX XX T xperts in i h A il A a syril Flexible Feeding Systems a a S Copyright Asyril S A Introduction FO 32 03 118 Contents 1 INTRODUCTION arianne A A 5 1 1 GENERAL INFORMATION ci 5 1 2 OTHER MANUAL G lt tn 6 1 3 HMI FUNCTIONALITIES tata a 7 e Oliena 7 123 2 FASSINO luisa 7 2 SETTING UPTHESYSTEN Rara 8 3 CREATING AND CONFIGURING A RECIPE sss sss sss sss sss esse essea asan 10 4 CONFIGURING THE ASY CUBE 0 u 0000 00 nes 11 4 1 VIBRATIONS OF THE ASYCUBE PLATFORM AND RESERVOIR 11 4 2 CONFIGURING THE VIBRATION PROCESS 12 di CONFIGURING THE VISION sss sss sss sss sss sssssssssss sss eni ii 14 Sil SELECTING THE VISION PROCESS TYPE a ia 15 5 2 CONFIGURING THE ILLUMINATION PARAMETERS i 16 Did PROGRAMMING THE VISION MODEL 18 6 PROGRAMMING THE VISION MODEL cccsscsssscsssscssccsssccsssccsssscsssccssssssssssssscsssssssnees 19 6 1 OVEREN ee TAI 19 Dx TUCKS and SIO CS ante ee nee 20 6 2 PEE OG RUIZ ATION ne ee ee rennen 21 ZF MEOW ari 21 6 2 2 Cohfiguking The tool MODEL Tab an 21 6 2 3 Configuring the tool BOUNDING BOX tab ii 26 6 3 MODELLEN DE Be en Re 27 Bote OV O liano 27 CES IE RR RI 27 6 3 3 Configuring the tool
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25. ates ID x Y Rotation 0 788 5747 1469 5465 0 2477 1 1217 0246 1402 1401 0 0000 Refused Candidates ID x Y Rotation 0 435 8238 Click on to execute the tool and get the results this operation can take some time Choose LastRun Outputimage from the image selector Verify that the accepted parts are Step 13 Inthe right direction accepted byModel Finder Sufficiently far from any other parts because accepted by the EPZR If not modify the values in the previous steps User Guide Smart Sight Asyril SA 44 52 User Guide T i 4 a syril Flexible ins Systems guad Sign i Ani SA Copyright Asyril S A Programming the Vision model 6 5 Localization Results Results ID x Y Z Theta State Reason 0 1052 5182 1711 8388 0 0000 0 2562 KO Modelfinder 1 788 4410 14694533 0 0000 02482 OK None 2 1216 9581 1401 9977 0 0000 0 0000 OK None 3 1985 4562 146 9659 0 0000 0 3699 KO ModelFinder 4 435 7059 1043 8790 0 0000 1 5859 KO EPZR 5 2184 0466 1532 2386 0 0000 0 4845 KO ModelFinder 6 21902040 638 9366 0 0000 0 0794 KO Modelfinder 7 999 1459 260 3871 0 0000 0 1630 KO Modelfinder 8 752 0121 1013 7021 0 0000 0 3758 KO ModelFinder 9 501 8454 643 9096 0 0000 0 5294 KD ModelFinder 10 9493875 753 3503 0 0000 0 8817 KO i 11 165 4373 912 1893 0 0000 04310 KO 0012 0002 NC s 10001 1 CO 16 67 NC 08 33 x 75 00 00 EXA 00 Figure 6 31 Localization R
26. ckground 2 L Threshold 128 gt Min Area 10 gt Pels 10547ms 109 18ms Figure 5 2 opening of the teaching window User Guide Smart Sight Asyril SA 14 52 f l i a syril Flenible reading Systems a SA Copyright Asyril S A Configuring the vision FO 32 03 118 5 1 Selectingthe vision process type Vision tools are preconfigured to allow easier faster and reliable teaching and working processes These tools are grouped in two main functionalities Control and Localisation Table 5 1 describes their use and content Included vision functionality Type of ne Number of vision Description aoe acquired images process localisation Pitch amp Toss and position x Exclusion zone Feeder Info Detection of one specific feature on the image mainly used for purpose of presence checking orientation or CONTROL position alignment error Optimized detection of several all parts 1 15 in the field of view for purpose of different lighting conditions and intensity localization orientation pitch amp toss sorting and feeder management LOCALISATION Table 5 1 Description of the vision processes and their functionalities NOTE The feeding information is automatically available if the camera is linked to an Asycube For a control camera this feature is not used User Guide Smart Sight Asyril SA 15 52 P 4 xperts in t Si ht A il SA l a SVT Flexible Feedin
27. der to reduce the component stabilisation time the Asycube platform may be machined grooves holes etc In this case the vibration sequence must be adapted to the type of platform so that the parts are directly positioned in the grooves or holes for example In the case of a grooved platform a typical vibration lt i sequence may be K Co Fl e e Forward e Backward Figure 4 4 Example of a grooved platform In advanced mode it is possible to differentiate the desired vibration sequence for a feeding and recirculation phase as e Feeding o this sequence is normally used at the initial step or at the end of a production when none or not a lot of parts are in the field of view Its goal is to transport the parts from bulk to the field of view e Recirculation o this sequence should prevent an overflow of parts in the field of view by preventing any part to come in the field of view e Working o it corresponds to the optimal state where the aim is to compensate the taken parts and to distribute the parts on the platform The feeder should work most of the time with this manner If not the different thresholds and sequences should be modified The cycle time is also directly related to this configuration In the normal mode only the Working sequences are configurable The Feeding and Recirculation ones are automatically set up User Guide Smart Sight Asyril SA 13 52 Configuring the vision T xperts
28. e gn ea RR a aN A Oeae a I Oe ve CA ag a a Sg Add a model by clicking on the The Exclusion Model tool is configured in a very similar way to the Prelocalization tool Therefore in order not to reproduce the same Step 1 step twice the 1 step consist of simply copy 1 to 1 the prelocalization tool by right clicking on the 01 tab Click on the E button to run the tool I aaia A A A AB Ao a aI a a SS zz a E AIAR AA TIE bag au ee ag ae ae ag Do Da a ha a Jar aa ea iis ae aa aaa aaa aeia aeia aeiae a aaa ein a ee If Part Contour to Boundary was selected copy the Prelocalization parameters into the Step 2B Contour model by right clicking on the 01 tab The same set of parameters can usually be used Then click on the E button to run the tool User Guide Smart Sight Asyril SA 41 52 T xperts in i h A il A a syril Flexible Feeding Systems BT GAA S Copyright Asyril S A Programming the Vision model v2 1 FO 32 03 118 AsyView Teaching Localization cell module vision default gt Prelocalization Model Finder Empty Picking Zone Growing Empty Picking Zone Region Localization Results Feeding information 01 be Type Boundary Exclusion Model Results S 1216 9581 Figure 6 27 Empty Picking Zone Region tool 01 Boundary AsyView Teaching Localization cell module vision default gt Prelocalization Model
29. es user xX configuration manage sequence value unit test images received timeset 1 f timesets Figure 7 1 finalization of the vision model configuration IMPORTANT NOTE The Asyview state will change to Configuration Idle in the header screen the LED is then yellow Wait until the change is effective LED to green again before moving onto the next step IMPORTANT Your Vision model is NOT saved when you click on the apply button you can test the modifications but if the software is switched off all modifications will be lost For more information about permanently saving a recipe refer to section 7 3 User Guide Smart Sight Asyril SA 47 52 P 4 xperts in i h A il A a SVT Flenible Feeding Systems Zn a S Copyrig ht Asyril S A End of programming v2 1 FO 32 03 118 7 2 Testing the vision model ERE ORS Be SI SS a Ie GR nl Sn Sn Sag lan a a a SIS Sk ISOS SS A Ro RoR ok oo ok ok ag ar oto ot ot ag ar ap oh ot ot bt ar ap a ot ot ar ot ot oh ot ot pr ap oh ot ok ok ot ot Step 1 Click on the vision button 1 1 1 i F ae a ra a au u eu u u u u u eu u u ee ee ee u one u ae ee a ee eo u u u u u u u u 1 _wmmm m e m __mm m_m mm mm m_ _ __ _ _ _ _m _ __m__ lee ee ee ee u mm mne nnona 1 Step 2 Click on the home tab I ETT Step 3 Check the dispay results box Step 4 Choose the results to display Step 5 Click on the Acquire b
30. esults tool Step 1 Click on Localization Results to show the window as below Step 2 Click on the button Run It is possible to select the image to check Verify the results GREEN accepted parts Step3 ORANGE mark EPZG rejected parts VIOLET mark EPZR rejected parts RED mark Detection Model rejected parts Tm iam im bam u m u a u u eee u eee eee eee eee eee eee User Guide Smart Sight Asyril SA 45 52 T xperts in Smart Sight Asyril SA l a syril Flenible Feeding Systems ted 4 Copyright Asyril S A FO 32 03 118 Programming the Vision model v2 1 6 6 Feeding information The Feeding Information tool enables the exact number of parts on the surface of the Asycube to be obtained as well as their position regardless of their pitch and toss orientation This information is then used to calculate the suitable vibration sequence re feed components flip to better dispatch the components etc The configuration is identical to that of the Model Finder but is only performed on the image with backlighting iii pini nici rr rincari rinascere ziczac ziczac nici on or a a ra rari I Step 1 Click on the Feeder information tab siena Refer to section 6 3 3 Configuring the tool Detection tab on page 28 and follow steps 1 Ste i to 8 NOTES e The goal is to estimate the number of all parts that are on the plateform regardless their pitch amp toss orie
31. fer to the Asyril XFEED XXX XX_User_Guide for information about the structure and parameters of the rec recipe User Guide Smart Sight Asyril SA 49 52 T xperts in i h A il A a syril Flenible Feeding Systems BT GAA S Copyright Asyril S A Technical Support FO 32 03 118 8 Technical Support 8 1 Forabetter service Before contacting us please note down the following information concerning your product Serial number and product key for your equipment Software version s used Error message alarm or visual signals displayed by the interface 8 2 Contact You can find extensive information on our website www asyril ch You can also contact our Customer Service department support asyril ch 41 26 653 7190 User Guide Smart Sight Asyril SA 50 52 P 4 xperts in i h A il A a syril Flenible Feeding Systems a nn S Copyright Asyril S A Revision table User Guide Smart Sight Asyril SA 51 52 This document is the property of Asyril SA it may not be reproduced modified or communicated in whole or in part without our prior written authorisation Asyril SA reserves the right to modify any information contained in this document for reasons related to product improvements without prior notice Asyril SA Z I le Vivier VA Ch 1690 Villaz St Pierre cl S ri l Experts in Switzerland Yy Flexible Feeding Systems Tel 41 26 653 71 90 Fax 41 26 653 71 91 info asyril ch www
32. g Systems mal ted G Copyrig ht Asyril S A Configuring the vision v2 1 FO 32 03 118 5 2 Configuring the illumination parameters ea ee I I I I I I I I I I I i I I I IRB BT I I I I I TS IT I I I RH ap Adjust the illumination type and exposure time as well as the number of images see Step 4 section 5 2 You can test the acquired image s on this tab home live image configuration calibration teaching process calibration displa manage teachinc i play Sfiora home create a new process control localisation RI asycube1 modify the current process LN finalization recipes user x configuration manage sequence test images received timeset 1 timesets BE Figure 5 3 illumination parameters on the HMI The parameters available on the timesets are used to configure the image acquisition process exposure time ms real acquisition time of the camera to take the picture illumination time ms time in which the light is on illumination offset ms time with the light on before to take the picture time out ms minimum time between two acquisitions backlight intensity from 0 to 100 frontlight intensity from 0 to 100 Illumination time e Illumination offset Exposure time O 0 10 20 30 40 50 60 70 Time ms Figure 5 4 Defining exposure time and illumination time User Guide Smart Sight Asyril SA 16 52 T xperts in
33. i h A il A a syril Flenible Feeding Systems BT GAA S Copyright Asyril S A Configuring the vision FO 32 03 118 The illumination time must be longer than the exposure time In order to ensure that the lighting DOAL or backlight is at full power when the photo is taken it is necessary to delay the image acquisition by using the illumination offset and to switch off the lighting one to two milliseconds after the image acquisition is completed Figure 5 4 illustrates this phenomenon NOTE In general only modify the Exposure time and Backlight Frontlight intensities The other parameters will then automatically adjust to optimize the sequence For more advanced configuration it is still possible to set manually all parameters On the HMI you can add or remove a timeset and test the whole sequence of acquisition illumination The displayed image can be selected by clicking on the corresponding timeset or with the arrows and selector in the images received area IMPORTANT NOTE 1 With the localization process e The timeset 1 will always be used for the prelocalization operation For this reason it must correspond to the backlight illumination e The timeset 2 can correspond to DOAL or backlight illumination IMPORTANT NOTE 2 Visually check that the image displayed on the screen is correct as the entire Vision model will be based on this photo User Guide Smart Sight Asyril SA 17 52 T xperts in Sm
34. il Flenible Feeding Systems ted 4 Copyright Asyril S A Programming the Vision model v2 1 FO 32 03 118 6 2 2 2 Filtering the results ConnectivityLabel Area BoundaryPixelLength Measurements ConnectivityLabel Filter Exclude D iter Figure 6 5 Prelocalization tool 01 Model Measurements Configure the Area property a Choose a type of filter measurement and an include value range Step 8 i b Atthis stage of the configuration process we do not know the pixel surface of the parts therefore choose quite a wide variation range for example from 10 to 10 000 We will narrow this variation range later Configure the Connectivity property Choose a type of filter measurement and an exclude value range IMPORTANT NOTE The value range must be set to include 0 0 if you want to detect the hole in a part The value range must be set to include 1 1 if you want to detect the external outline of a Step 10 If necessary add a new property by clicking on the Add new button and configure it as well 1 1 1 1 aa Pe I 1 Step 11 Click on the button to run the tool User Guide Smart Sight Asyril SA 23 52 T xperts in t Si ht A il SA 3 a syril Flexible Feeding Systems mal ted G Copyright Asyril S A Programming the Vision model v2 1 FO 32 03 118 6 2 2 3 Analysing the results LastAun Inputlmage Blob too small Figure 6 6 Preloca
35. in i h A il A a SVT Flexible Feeding Systems BT GAA S Copyrig ht Asyril S A v2 1 FO 32 03 118 1 1 1 1 rn rn 1 Step 2 Click on the teaching tab 1 1 1 1 rn rn 1 siena For a new configuration choose the type of process to be used for this recipe control or e a i localisation see 5 1 and click on the add button This will open the teaching window WAHAI RIN Pi i RATA A II ria iii i ia ini ii iii i ii ini iii e ini iii rai iii iii ii ii iii i iii Stange To modify the configuration click on the modify button This will open the teaching ep window The Asyview state will change to teaching in the header screen Wait until the state has changed to teaching before moving on to the next step The teaching window will be opened at that time home five image configuration calibration teaching pre ibration r display manage teaching f create a new process di D ie control localisation Li asycube amp modify the current process home m PAN ision 1 Y vision i lt finalization recipes 3 user xX configuration manage sequence test images received timeset 1 timesets backhght 0 Model Bounding Box gt 7 SUS u Settings Regen Measurements Graphics Resuts Segmentation Connectivity Hard Threshold feed S Grey Scale Polarty Veen Derk blobs Light ba
36. ined b Mode Search image c Approx number to find depends on the number of components to test on this Step 10 picture d Accept threshold relatively high between 0 7 and 0 9 e If necessary modify the rotation angle value accepted for the components in relation to the model programmed and the scale if your correct parts are not all exactly the same size TEE SG SEES CN CIRIE gt hd Prelocalization Model Finder Empty Picking Zone Growing Empty Picking Zone Region Localization Results Feeding Infomation 01 Detection Model Detection Advanced Bess ar saut JB men heey e user Sanna lt x X Pe AL YA Trained 2421 9ms 8432ms Figure 6 15 Model Finder tool 01 Detection Model Run Params CT u tu Lu RR Tata a LR a a a a Ra a a a at a a a tt te ee ee S E aai ana ricci Select LastRun Outoutimage from the image selector And check that the parts that you Step 12 have defined as correct are accepted and that the others are rejected Otherwise modify the threshold value according to the score of incorrect parts displayed in the results table User Guide Smart Sight Asyril SA 30 52 T xperts in i h A il A a SVT Flenible Feeding Systems BT GAA gt Copyright Asyril S A Programming the Vision model v2 1 FO 32 03 118 6 3 4 Configuring the tool Detection Advanced tab AsyView Teach
37. ing Localization cell module vision default CA iS LastRun Inputimage ModelFinder 5 00 1053 05943 1712 03708 0 00000 0 36525 lt 0 5000 False 01 789 00686 1469 62719 0 00000 0 24860 0 5641 True 02 1217 32422 1402 08729 0 00000 0 00000 0 9820 True 03 1985 71605 14721765 0 00000 0 36134 lt 0 5000 False 04 435 65694 1045 59107 0 00000 0 53988 0 7667 True 05 2184 35708 1532 23085 0 00000 0 48813 lt 0 5000 False 06 999 62969 260 50129 0 00000 0 12880 lt 0 5000 False 07 2190 58449 639 05334 0 00000 0 09100 lt 0 5000 False 08 752 47348 1013 89825 0 00000 0 38833 lt 0 5000 False 09 50224611 644 02962 0 00000 0 48204 lt 0 5000 False 10 949 69762 753 79377 0 00000 0 80672 lt 0 5000 False 11 166 01230 912 41432 0 00000 0 42219 lt 0 5000 False Figure 6 16 Model Finder tool 01 Detection Advanced E RR N E ER RAL S EEP E I SBI SS SS SSS SS EEE Step 13 Click on the Detection Advanced tab to display the screen below I 1 F i i i i i i i i i a a i a a 177 nn 1 1 Rotation allows adjusting the rotation angle given in the result pick position orientation o Enabled the orientation will follow the detected part only available if the search angle is not fixed to 0 in the Run parameters of the model An optional offset can be added Disabled constant orientation eventually with adding an offset value Slepa Score o Enabled filter the results to
38. ion Model Detection Advanced ControlSettings Control Model Control Advanced Results Gees mw he Params Train Region amp Origi Search rh Reve ie Results LastRun inputimage 2 ly Max no to find 20 180 deg 0 3 deg 4 I Figure 6 18 Model Finder tool 01 Control Model in the case of a Surface Control IMPORTANTE NOTE It is essential to have first selected the reference part and activated the SET button in the Control Settings before adjusting this model User Guide Smart Sight Asyril SA 33 52 T xperts in i h A il A a syril Flenible Feeding Systems BT GAA S Copyright Asyril S A Programming the Vision model v2 1 FO 32 03 118 On the Run Params tab adjust the parameters The acceptance threshold might be quite high here because tiny differences Step 20 between the parts should be usually detected Eventually the angle and scale Eventually the type of algorithme i i I l r ARE TREE a I A ESS a rl a Fr ar a a SA aaa a a a aa a a rar lan ORI an a SEE E IR IR a E E AAA A a Da al a a a a Da IAA a a a a rin 1 Step 21 i Click on the button to run the tool 6 3 7 Configuring the tool Control Advanced tab NOTE This tab is not available when chosing the option Geometrical Feature Detection CRI WE E This step is similar to the Detection Advanced tab cf 6 3 4 with the only remark
39. libration Only Feeder calibration Ready to tune the feeder and teach the vision model Figure 2 2 quick description of the different tasks to operate when settling a new Smart Sight configuration See the HMI User Manual within the interface for detailed information about these functionnalies Live Image configuration Calibration User Guide Smart Sight Asyril SA 9 52 User Guide Creating and configuring a recipe l FO 32 03 118 3 Creating and configuring a recipe P 4 i 4 a syril Flexible Feeding Systems Giai a Copyright Asyril S A Different level of recipe exist and allow easy access loading and saving of the different level of the machine as well as mixing configuration depending on the application A Vision recipe has a vrec extension and contains all of the data necessary to configure the complete vision and feeding system The next chapters provide a tutorial describing how to configure a new recipe However the information contained in this chapter also applies to modifying an existing recipe The different steps described in this chapter are resumed in Figure 3 1 START Load the recipe to modify New recipe or modification Eu Feeder configuration Ch 4 Tune the vibration parameters and duration to get the desired displacements Simulate the feeding process i l 4 1 Tune the Asycube process to get the desired Feeding behavior modify Place parts on the Asycube
40. lization tool 01 Model Results Asi lecce Pdq eB Yf t tf8 8 jjjiiii ii W 9 Eee i 1 I nana E E E E aaa Baa aaa aaa EEA n 1 The table displayed on this tab lists the parts found the associated area and the connectivity Examine the area of each component found and determine the smallest and the largest area for which a single component is found as illustrated in the figure below When you select a line in the table the corresponding blob is displayed in blue in the LastRun image and vice versa Blob surface Blob surface area too large area too small Blob size correct Figure 6 7 Defining the area acceptance range User Guide Smart Sight Asyril SA 24 52 T xperts in i h A il A a syril Flexible Feeding Systems a a 3 Copyright Asyril S A Programming the Vision model v2 1 FO 32 03 118 Modify the area range accepted as a result of the observations made in step 14 then run Step 16 the tool again Check that all blobs surround just one part only Otherwise adjust the area again i i EE EE EEE EEE E EEE EE EEE EEE EEE EEE EEE EEE EE ESE EEE EEE SE O EEE ee E EEE EEE EEE TE eee Measuremento LastRun Inputlmage Figure 6 8 Prelocalization tool 01 Model Measurements NOTE The threshold value may also need to be adjusted to do this vary the value chosen in step 3
41. ly on parts previously accepted by the model finder as explained below u Model Finder u 77 Pattern gt Na ett use atc 277 we Ma DIA n sa mi TP a Su gar Figure 6 21 Empty Picking Zone tools Schematic algorithm User Guide Smart Sight Asyril SA 37 52 T xperts in Smart Sight Asyril SA l a syril Flenible Feeding Systems ted 4 Copyright Asyril S A Programming the Vision model v2 1 FO 32 03 118 6 4 1 Empty Picking Zone Growing EPZG The EPZG tool enables to define a zone all around the part in which no other part must be found The goal is to prevent two parts being picked at the same time The exclusion zone corresponds then to the growing of the contour of the part and has the effect of adding a border all around the part Refused Accepted lt Kernel Size Figure 6 22 Empty Picking Zone Growing EPZG NOTE This type of exculsion zone calculation is very time consuming It is very well adapted to parts with a complex geometrical shape but for which only a thin border is sufficient asse eps eee gee gee re rr ha L me eg N alu dan Dan Du Dar oe a Ee a De la a a oe oe a ge oe a le oe i Da a el Da a ae w_ l eee re ee a a Ze nz u _ 6 _ __ t 6 t m
42. models The color codes on the bottom of the window indicate the number of parts having successfully passed the different steps SI a a a a a a a CEL EEC ELEC EEE LEE CL EEE EEC EEE EE CEE LEE EE li ti ti ii i ii ii i ii i i ii ti iii it ti ii tti it it iii iii iii User Guide Smart Sight Asyril SA 36 52 f asyril ie Flexible Feeding Systems Smart Sight Asyril SA Programming the Vision model 6 4 Exclusion zone definition Method Define a zone of a certain thickness all around the part Refused Accepted d EPZG Empty Picking Zone Growing Kernel Size Define a geometric zone centred on the part picking point Refused Accepted s EPZR circle EPZR Empty Picking Zone Region v2 1 FO 32 03 118 Characteristics Well adapted for parts with complex geometrical shape but when just a thin border is sufficient as exclusion zone Very interesting in case of a small gripper tip and comparatively a large part to be sure the parts are not touching each other Very fast for a delimitation of only a few pixels but time consuming for larger border Can be combined with the EPZR The outer shape of the excusion zone can be defined depending for example the geometry of the gripper tip Different option to fit optimally the excusion zone with the part geometry and variance Can be combined with the EPZG Table 6 3 EPZG and EPZR general description The Empty Picking Zone tools are used on
43. ntation For this purpose the backlight illuminated image should be used to make the detection e Itis also possible to apply several models to have a better estimation of the number of part if necessary for example when the geometry of parts is very different depending their orientation AsyView Teaching Localization cell module vision default E K do Prelocalization Model Finder Empty Picking Zone Growing Empty Picking Zone Region Localization Resut Ce TAEI LEFI vi Train Params Train Region amp Origin Run Params Search Region Results LastRun inputimage w x j Pattem zj v J Load Pattem Save Pattem info Pattem may contain insufficient information to measure Angle reliably ic Trained 33642ms 68 47ms Select LastRun Outoutimage from the image selector And check that ALL of the parts are detected User Guide Smart Sight Asyril SA 46 52 P 4 xperts in i h A il A a SVT Flenible Feeding Systems BT GAA S Copyrig ht Asyril S A End of programming v2 1 FO 32 03 118 7 End of programming 7 1 Closing the Asyview teaching window home Ive image configuration calibration teaching process calibration r display F Manae teaching _ play J J A home r create a new process Mic DE control localisation L asycube 1 modify the current process 7 vision 1 A W f finalization recip
44. on cell module vision default gt PA ectich Model Detection Advanced ControlSettings Control Model Control Advancdd Resuts LastRun inputimage Control X ID X Y Z Theta Accepted Reason 00 105251825 1711 83877 0 00000 0 2562 False Control 01 786 98016 1471 98532 0 00000 02116 True None 02 1218 45469 1400 96837 0 00000 0 5018 True None 03 1985 45621 146 96588 0 00000 0 3699 False Control 04 431 35501 1045 59419 0 00000 2 9169 True None 05 2184 04662 153223862 0 00000 0 4845 False Control 06 2190 20401 638 93665 0 00000 0 0794 False Control 07 999 14589 260 38714 0 00000 0 1630 False Control 08 75201215 101370209 0 00000 0 3758 False Control 09 501 84543 643 90957 0 00000 0 5294 False Control 10 949 38754 75335034 0 00000 0 8817 False Control 11 165 43733 91218927 0 00000 0 4310 False Control IE cs CI E DEE Figure 6 20 Model Finder tool 01 Results Results ms ie Click on the E button to run the tool and obtain the results this operation may take some time Then click on the Outputtab to get the list of the result 1 1 I FERRARA ESTERE ERE RE ERE RE RE ZE RARE FERRE EER ERRE ERE ERE AEREE RE ZE TERRE RE REZZA ZZZ ZE RE ZE EER EEE 1 1 I I Select the image of interest from the image selector and check that the parts that you have defined as correct are accepted and that the others are rejected Otherwise Step 25 modify the values in the different
45. ong the main inertial axis of the part For complex geometry it might be better to not orient this bounding box The main effect occurs when computing the Empty Picking Zone Region see 86 4 2 for which it is optimal when contour and box are the closest possible User Guide Smart Sight Asyril SA 26 52 T xperts in i h A il A a syril Flenible Feeding Systems a a S Copyright Asyril S A Programming the Vision model v2 1 FO 32 03 118 6 3 Model finder 6 3 1 Overview The Model Finder tool enables to train the model of a correct part pattern with which the application will be able to differentiate correct parts from incorrect parts notably for the detection of pitch and toss The search is applied on all candidates located with the prelocalizsation tool It is able to match rotated and varying in size objects 6 3 2 Settings tab AsyView Teaching Localization cell module vision default Geometrical Feature Detection default Geometrical Feature Detection amp Control Geometrical Feature Detection amp Surface Control Figure 6 11 Model Finder tool settings The Model Finder tool is composed by a Geometrical Feature Detection that can optionnaly be followed by a second control This last one can be again based on a geometrical model or on the characteristic of the surface Table 6 1 describes their uses Use case Geometrical Feature Standard case pitch amp
46. platform reservoir backlight process SCI console configuration manage process home planar process structured process Vai Na dvanced mod L j P ar advanced mode a asyview feeding B p N vision 1 gt ce c ca N B ce N working recipes sequence parts 120 remove CH o re n aie SS in Le user s ee e ee PA ef J synchronize None ee ee sia z xX configuration location function duration ms Reservoir forward 1000 nb simulation parts Platform forward 40 Platform calculated VELES G 0 Platform flip I 150 None stabilization 500 recirculation Figure 4 3 Defining the vibration sequences User Guide Smart Sight Asyril SA 12 52 T xperts in i h A il A a syril Flenible Feeding Systems BT GAA S Copyright Asyril S A Configuring the Asycube v2 1 FO 32 03 118 Depending on the number of parts detected on the Asycube platform it is possible to configure a specific vibration sequence Between each configured sequence the vibration time will be interpolated linearly All the configured batches can be used in the sequence To distribute the parts uniformly on the platform and take into account the position of the parts on the platform the calculated option is included in the sequence In this case the algorithm will automatically define the vibration time and the optimal batch to apply A typical sequence may be e Calculated e Flip e Stabilization In or
47. r to take new pictures NOTE i The button Run has to be run at least one time when modifiying or creating a vision recipe to load the timeset configuration opyGeometricalDetectionFrom CopyGeometricalDetectionTo CopyControlFrom CopyControlTo SelectGeometricalDetectionimage selectlontrollmage Remove Figure 6 2 Run Once button right click on 2 tabs level to select image and copy paste features User Guide Smart Sight Asyril SA 20 52 T xperts in Si ht A il SA 3 a syril Flexible Feeding Systems a A Copyright Asyril S A Programming the Vision model v2 1 FO 32 03 118 6 2 Prelocalization 6 2 1 Overview The prelocalization tool thresholds the picture and then inspects it for discrete blobs of connected pixels Results may be filtered depending on their geometrical characteristics but mainly on their area This first step allows locating fastly all candidates of good parts to be picked on the surface of the Asycube To configure this tool you must select the surface of your parts in pixels or in mm depending on the calibration used as well as a threshold value greyscale value used to transform each portion of the image into black amp white 6 2 2 Configuring the tool MODEL tab Mode Hard Threshold Fixed Polarity Dark blobs Light background Threshold Figure 6 3 Prelocalization tool 01 Model Settings CORO aE ABZ AB AB AB AB A
48. rrent Trainimage Train Region Train Origin Selected Space Name Use Input Image Space Origin X 1218 79 7 Origin Y 1405 58 Untrained Define the centre and orientation of the part Step 7 Tip you can move the system of coordinates manually but it is more accurate to use the center origin button Pay particular attention to defining the centre of the reference as it is the coordinates of this point that will be sent to the robot as the PickPosition ee Se SI eS a a is as Er An onRE n zoro nor SS un u u u iz pote u nn 5A Ann u Ann u u u u u Zn ARE iin I I When the pattern has been programmed click on the Train button in the Train Params The image of the model programmed is displayed in the window that was initially blue i ui i ii n i i ii a i i i i i ln n n ft iti iii i ld i iii iii iii iii iit iii Tran Parems Hrain Regen amp Ongin Run Params Search Regen Graphics Resuts Pattem Algorithm PatMax amp PatQuick v Train Mode l mage x Sa Polarity Grab Train Image Grab Train Image L Load Pattem al Save Pattem gt Pattem Figure 6 14 Trained geometrical feature User Guide Smart Sight Asyril SA 29 52 T xperts in Si ht A il SA 3 a syril Flenible Feeding Systems BT G Copyright Asyril S A Programming the Vision model v2 1 FO 32 03 118 Modify the parameters as follows a Algorithm Best tra
49. s Resuts Segmentation Connectivity Mode Mode Hard Threshold Fixed z Jae Scale zj Polarity l Oeanup Dark blobs Light background Fal Threshold 80 Min Area 10 gt Pels Morphology Operations Last Run Outputimage Figure 6 24 Empty Picking Zone Growing tab User Guide Smart Sight Asyril SA 39 52 T xperts in ight Asyril SA l i a syril SUS Feeding Systems BT GAA S Copyright Asyril S A Programming the Vision model v2 1 FO 32 03 118 6 4 2 Empty Picking Zone Region EPZR 6 4 2 1 Overview The Empty Picking Zone Region EPZR tool is used to define a geometrical zone centred on the part picking point in which no other part must be found The goal is to avoid two parts being picked at the same time Refused Accepted Refused Accepted EPZR circle EPZR Rectangle Figure 6 25 Empty Picking Zone Region EPZR There are three types of EPZR optimized along the part shape as presented in Table 6 4 Method Characteristics Search between 2 defined shape inner and outer Very fast Inner boundary l l Annulus area Only available for circular or Outer boundary elliptical annulus Exclusion zone Search inside the zone between the region of the Model Detection anda For simple geometries defined outer shape e For parts with variable size Detected region to g Ke g ote the Detection Region must boundary default Exclusion zone E be set as close
50. to this score only if this value is bigger than the accept threshold defined in the Detection Model Run Params parameters Disabled sort the result with the accept threshold defined in the Detection Model Run Params parameters step 10 iii iii vizi iii iii T NOTE i The use of the score may be helpful to work with a not too high acceptance threshold in the Model Finder but to sort then only the best results NOTE Going on the picture gives the information about the ID of the corresponding part in the result informations User Guide Smart Sight Asyril SA 31 52 asyril sx Flexible Feeding Systems Smart Sight Asyril SA l l Programming the Vision model v2 1 FO 32 03 118 6 3 5 Configuring the tool ControlSettings tab 1 a This tab is not available when chosing the option Geometrical Feature Detection AsyView Teaching Localization cell E A ara ro k gt Zone Region Localization Results Feeding Information Control Model Control Advanced Results X 121845 Y 140097 Z 0 00 Theta 050 set I e u hg La Saar Figure 6 17 Model Finder tool 01 ControlSettings Step 16 Click on the ControlSettings tab to display the screen below Km i Select the detection result you want to define as the reference 77 Choose the part you want as model ID Step 17 Click on SET gt the system will load the tr
51. utton to start the image analysis process Step 6 Check that the parts in the right direction are accepted and that the others are rejected age configuration calibration teaching process calibration manage results _______ home activate deactivate display results O display results O asyview acquisition L asycube lock a gt vision 1 Image 1 4 results selection recipes O good parts 3 user detection error xX fiqurati control error C con iguration empty picking zone growing error a empty picking zone region error r results 6 accepted parts 6 rejected parts 25 feeding information timeout parameters id x y angle rejected reason 13 511565838 754183149 0 14 963 627421 1031918362 0 5 1103054969 729248462 0 6 1154 273191 942 75852 0 Figure 7 2 Vision Home Testing the Vision model Vibrate the Asycube using the shortcut area on the top of the HMI and repeat the steps 5 and 6 If you are satisfied with the obtained results you can save your recipe by referring to section 7 3 Otherwise modify your recipe by returning on the teaching tab II RI I I I E III I User Guide Smart Sight Asyril SA 48 52 T xperts in i h A Il A x A a SVT Flexible Feeding Systems BT GAA S Copyright Asyril S A FO 32 03 118 7 3 Permanently saving the Vision model home G asyview D Asycube descriptor Yo Visi gt isiop parameter value

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