Robot Vision – 2 exercise

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Exercise profiles

• Start profile: RobotVision_2_Start

• Final profile: RobotVision_2_Final

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The task

• To separate the 3 different object presentations

• To find the Robot picking point and angle of the object

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Vision Strategy

• Use a blob to identify object present and set up a ObjectPresent logical state

• Use Blob2 to set up constrains based on results from the Blob tool

• Use Python to set up the business logic

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Logical states

• Object present

• No Object

• Undefined Object

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Locate object

• Use a blob to locate the object• Use the blob area as condition in a logic

tool to define ObjectPresent state

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Identify Object Presentations

• Use Blob2 to identify the 3 different presentations

• Name them:– FindPresentation1– FindPresentation2– FindPresentation3

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Using results from Blob2

• In the results tab you will find a large number of results that can be used to separate presentations

• In the exercise we will use Circularity and Axis Ratio

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Setting Constrains

• By studying the variation of circularity and axis ratio for the three presentations, you can set minimum and maximum levels

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Undefined object

• Use a Logic Tool and check the tool status to set up the Undefined Object state– Status = 1 is OK– Status = 3 is error

• Name the tool:DefinedObject

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Selecting presentation

• We will use a Python Tool to select the correct presentation based on the results of the 3 blob tools

• The first step is to import the different values using the GetValue statement– The Round function is used to get only one

decimal after comma– The Int function returns only the integer

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Importing data to Pythonx1 = round (GetValue ('FindPresentation1.Center of gravity[0].x'), 1)y1 = round (GetValue ('FindPresentation1.Center of gravity[0].y'), 1)x2 = round (GetValue ('FindPresentation2.Center of gravity[0].x'), 1)y2 = round (GetValue ('FindPresentation2.Center of gravity[0].y'), 1)x3 = round (GetValue ('FindPresentation3.Center of gravity[0].x'), 1)y3 = round (GetValue ('FindPresentation3.Center of gravity[0].y'), 1)

print x1 , y1 , x2 , y2 , x3 , y3

angle1 = int (GetValue ('FindPresentation1.Angle[0]'))angle2 = int (GetValue ('FindPresentation2.Angle[0]'))angle3 = int (GetValue ('FindPresentation3.Angle[0]'))

print angle1, angle2, angle3

status1 = int (GetValue ('FindPresentation1.Status'))status2 = int (GetValue ('FindPresentation2.Status'))status3 = int (GetValue ('FindPresentation3.Status'))

print status1,status2,status3

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Error reporting in Python

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Using Console window

• The print command in Python will print the data in the Console Window

• Activate the console window in Advanced

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Console Window result

• The parameter will be printed in the console window after every inspection

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Object Presentation number

• The 3 different presentations of the object must be communicated to the Robot and the user after each inspection

• We will generate the number (1 – 3) in the Python script and put the result in a External Scalar Tool named ObjectPresentation

• From that tool we can send the data to the Robot using RS232 and also display the result in the result panel

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Generating Presentation number

• First add the External Scalar Tool and name it ObjectPresentation

• To set a value in another tool we use the command: SetValue

• On next page you will find the Python script including SetValue command and the if statements controlling the business logic

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Using If statements to select

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Picking Point and Angle

• The final picking point will be available for an external PLC using the tool ExternalPoint

• The angle will be available using the tool ExternalScalar

• Create the tools name them PickingPoint and PickingAngle

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Setting the picking point and angle

• The next section in the Python script select the status that =1 and set the x and y value in the ExternalPoint tool named PickingPoint and the angle to ExternalScalar tool PickingPoint

• The SetValue command is used to set parameters in other tools

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Combining results for presentation in the result panel

• Results can be combined for better presentation in the Result window

• First create a ExternalText tool named “PointDescription”

• The indicated script will set the result in the PointDescription tool using the SetValuecommand

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OK, No and Undefined Object States

• Define the logical states in the settings tab using the logical tools ObjectPresent and DefinedObject

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Configure the Result Panel

• Display both the result from the tool PickingDescription and PickingAngle

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The final result