Adept iSight Tutorial

Adepttechnology, Inc. Copyright 2005. All Rights Reserved.

Description

Adept iSight T
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Adept iSight
TutorialAdept iSight T
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P/N: 051
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This
tutorial will
w
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a basic, f
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vision application.
The tutorial assumes y
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and
with
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Tutorial Overvi
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•
I
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hardw
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softw
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C
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OHCI
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If it is
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installe
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...

Sujets

• ISight
• Caméra café (France)
• Vision d'Escaflowne
• Offset (imprimerie)
• Manager de l'année (Ligue majeure de baseball)
• Le Modèle millionaire

Informations

• Publié par: Mofang
• Nombre de lectures: 106
• Langue: English

Extrait

Adept iSight Tutorila Adept iSight Tutorial

Adept iSight Tutorial P/N: 05170-000, Rev B May 2005 © Copyright 2005 Adept Technology, Inc. The Adept Technology oloo and HexSight are registered trademarks of Adept Technology, Inc. All other product and company names mentioned are the property of their respective owners. 3011 Triad Drive • Livermore, CA 94551 • USA • 925.245.3400 Otto-Hahn-Strasse 23 • 44227 Dortmund • Germany • 49.231.75.89.40 41, rue du Saule Trapu • 91300 • Massy • France • 33.1.69.19.16.16 200-1020 Route de l’Eglise • Sainte-Foy QC G1V 3V9 • Canada • 418.657.5000

Welcome to the Adept iSight Tutorial This tutorial will walk you through the creation of a basic, functional machine vision application. The tutorial assumes you are familiar with Adept DeskTop and with the operation of the Cobra i-Series robot. Tutorial Overview •Install the hardware •Install the software •Create a vision application •Add a MicroV+ program •Test the integrated application System Requirements •PC running Windows 2000 SP4 or Windows XP •PC with an OHCI-compliant 1394 (FireWire) Bus Controller •Windows .NET Framework. If it is not present on your computer, it will be installed during the software installation. Note:The type of PC processor will influence the execution speed of the vision applications. Before Starting the Tutorial You will need a typical object/part for the tutorial. Use a part that: •the robot can easily grip, or point to, with the robot end effector, and •that is suitable for vision applications. Adept iSight Tutorial

Module 2: Install iSight Hardware Install iSight Hardware Install the Robot Refer to installation instructions in the manuals that came with the robot: • Adept Cobra i600/i800 Robot User’s Guide  (P/N 03589-000) • Adept Cobra i600/i800 Robot Quick Start Guide  (P/N 03589-000) Install the Lens 1.Locate the lens that came with the package. 2.Install the lens on the camera. Do not over-tighten. 3.Do not set the lock screws, since you will need to adjust the lens aperture and focus later. Install the Camera 1.Locate the IEEE 1394 (FireWire) cable that is included in the shipment box. 2.Connect one end of the cable to the 1394 port on the Basler camera. See image. 3.Mount the camera in the workcell using the camera mount brackets. 4.Connect the other end of the cable to a 1394 FireWire port on the PC. A hub may be required if the PC (laptop) has a 4-pin port. 5.Typically, you should mount the camera so that it is perpendicular to the workspace. 6.Make sure that the installed camera clears the top of the robot. Note:In Windows 2000 you may get a "Found New Hardware” popup. In such a case, click Cancel: the Basler camera driver will be installed with the iSight software. Next:Install the Software Adept iSight Tutorial Overview of Adept iSight Setup Basler Camera connection ports Back of Basler camera IEEE 1394 port 2

Module 3: Install the Software Install the Software The software installation process will install the following: •Adept DeskTop 3.1 •Adept iSight 1.0 •Basler BCAM camera drivers •Sentinel Super Pro driver for the USB hardware key (dongle) Before Installing •If Adept DeskTop version 2.3 or previous, is installed on your computer, you must uninstall it before installing the new version. •If Adept DeskTop 3.0 is currently installed on your system, you do not have to uninstall it before installing the new version. •Install the USB hardware key (dongle) that came with iSight. This dongle is required and must be present at all times to ensure the proper functioning of iSight. Installing the Software 1.Install Adept DeskTop from the Adept DeskTop CD-ROM. 2.Follow the instructions on screen. 3.Do not change the default destination folder to which Adept DeskTop will be installed. 4.Install iSight from the Adept iSight installation CD-ROM. 5.Follow the instructions on screen. 6.Do not change the default destination folder to which iSight will be installed. The installation automatically install iSight in the same destination as Adept DeskTop. The installation is now complete. The drivers for the Basler camera and the Sentinel hardware key are installed during the iSight software installation. You do not need to reboot your computer before starting Adept DeskTop. Next:Open the Vision Manager Adept iSight Tutorial3

Module 4: Open the Vision Manager Open the Vision Manager Vision applications are created and managed in the Vision Manager window in Adept DeskTop. Open Adept DeskTop 1.Open Adept DeskTop. 2.Connect and power up the robot. For additional instructions refer to the Adept Cobra i600/i800 Robot Quick Start Guide . Open the Vision Manager 1.From the Adept DeskTop menu, select Tools >Vision. 2.The Vision Manager opens, similar to the image below. The Vision Manager Window Sequence Manager: From the Sequence Manager, you manage and edit the sequences that make up your vision guidance application Camera List From the Camera List, you can configure camera parameters and launch the calibrations You can dock the Vision Manager anywhere in the Adept DeskTop window •Before creating a new vision application, you will have to adjust the camera and calibrate the system. •Warning symbols such as those in the image above indicate that the system has not been calibrated. Next:Adjust the Camera Adept iSight Tutorial4

Module 5: Adjust the Camera Adjust the Camera To adjust the camera lens you must open a live display. Open Live Camera display 1.In the Available Cameras list, select the Basler Camera (A601F…). 2.Click the Live Display icon. See image. 3.The Live Display opens. 4.Important: Make sure that the entire area covered by the camera field of view is within the robot’s work range. Otherwise, reposition the camera. Adjust Lens Focus and Aperture 1.Open the Live Display window to guide you in adjusting the lens aperture and focus. 2.Place one or more objects in the field of view. 3.Use the display’s zoom options by right-clicking in the window. See image. 4.Adjust the focus until objects in the display are sharp. 5.Once you have obtained the best possible focus, adjust the lens aperture (f-stop) until you obtain a well-contrasted image. If it is too highly contrasted (saturated) you will lose detail. You can now optionally adjust camera parameters, although the default camera parameters should be satisfactory for this tutorial. Next:Adjust Camera Properties (optional) Adept iSight Tutorial Opening a Live Display Window Live Display Window with Zoom Options Opens the Live Display window 5

Module 6: Adjust Camera Properties (optional) Adjust Camera Properties (optional) If you want to adjust camera parameters, follow the steps below. Otherwise go to the next module. Open the Camera Properties Window 1.Select the Basler camera in the list of Available Cameras (A601F…). 2.Click on the camera properties icon. See image. Configure the Camera Properties In the camera Properties window: 1.Select the Stream Format tab and set the following properties: •Format: select Format 0. •Frame Rate: select 60 fps. •Mode: select 640 x 480, Mono 8 2.Select the Video Format tab and set the following properties by moving the sliders or directly typing in the values: •Shutter: set to 600. •Gain: set to 10. •Brightness: set to 400. 3.Leave other parameters at their default settings, and click OK to close the camera properties window. Next:Calibrate the Camera Adept iSight Tutorial Opening the Camera Properties Window Camera Properties Window 6

Module 7: Calibrate the Camera Calibrate the Camera Calibrating the camera/vision system increases the accuracy of your results by correcting image errors. •The camera calibration requires a grid of dots target. Use the sample paper target that came with the Adept iSight kit to follow this tutorial. •The sample target is intended for teaching purposes only; it is not a genuine, accurate vision target. See the iSight online help for information on accurate dot targets and the importance of calibrating the vision system. •The camera can be calibrated during the Robot-To-Vision calibration. This is explained in the next module of this tutorial. Calibrating the camera separately will provide higher accuracy than the Robot-to-Vision calibration alone. Important: Before starting this calibration, make sure that the entire area covered by the camera field of view is within the robot’s work range. Launch the Camera Calibration Camera Calibration Wizard icon launches camera calibation Warning symbols indicate    non-completed calibrations 1.Select the Basler camera from the camera list. 2.Click the 'Camera Calibration Wizard' icon, as shown here. 3.The Vision Calibration Wizard opens, beginning the vision (camera) calibration process. 4.Follow the instructions in the wizard, then return to this Starting Camera Calibration from the Vision Manager tutorial once the calibration is finished. 5.If you need help during the Calibration process, Click Help  in the Calibration Wizard. Next:Calibrate Robot to Vision Adept iSight Tutorial7

Module 8: Calibrate Robot to Vision Calibrate Robot to Vision Robot-to-Vision calibration ensures that the robot will accurately move to parts that are seen by the camera. The calibration enables iSight to accurately transform coordinates in the camera frame of reference to coordinates in the robot frame of reference. Launch the Robot-to-Vision Calibration l R a o u b n o c t h -t e o s -   V R i o si b o o n t    t C o a   l V i i b s r i a o ti n o  c n  al W ib iz r a at r i d o  i n con t C h h e  e c c a k  m m e a r r a  k c  s al y ib m r b a o ti l  o i n n   d w ic a a s t   e c s o  t m h p a l t e   ted  1.Select the Basler camera from the camera list. 2.Click the 'Robot-to-vision Calibration Wizard' icon, as shown here. 3.The Interview Wizard opens, beginning the robot-to- vision calibration process. 4.Follow the instructions in the wizard, then return to this tutorial once the calibration is complete. Starting Robot to Vision Calibration from the Vision Manager 5.If you need help during the Calibration process, Click Help in the Calibration Wizard. Next:Create a Vision Sequence Adept iSight Tutorial8

Module 9: Create a Vision Sequence Create a Vision Sequence A sequence is a series of processes that are executed by vision tools. When you execute a sequence, each tool in the sequence executes in order. You add, remove, and edit the vision tools in the Sequence Editor. Saving a Sequence All sequences in the Sequence Manager are saved when you save the vision project. •Sequences are saved as part of the project, not individually. •Project files are saved with the extension "hsproj". Click the Save icon to save the current project now: Opening the Sequence Editor By default, there is already a first sequence in the application. 1.Select the first sequence in the list 2.In the Sequence Manager, click the 'Edit Sequence' icon. See image. Sequence Manager Task Bar Next:Add Tools to the Vision Sequence Adept iSight Tutorial Edit Sequence icon   Click on New Sequence to select it   and activate icons in the taskbar  9