Hey Folks,
I have a simple vision process where I'm just getting an offset and picking a part. That's working fine. My problem is that the operator sometimes puts the parts too close together and when the robot picks it hits the other parts. I tried to come up with a way to detect if the parts are too close using an additional vision process but couldn't figure out a way to do it. My preference would be to use a vision process to see if the parts are too close and keep the robot from picking any parts that are closer than 5mm to each other. Parts are round cylinders standing on end and there could be any number of them in the part tray at anytime. Any advice?
Thanks!!!!
Vision Problem
- Dpreston
- Thread is marked as Resolved.
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It sounds to me like your center origin for the vision is not correct. Or maybe your taught position is not in the center of the cylinder?
When the vision is set up properly your product shouldn't be moving 5mm and making contact with other parts.I would verify the center of the vision and your EOAT.
Or you you mean the EOAT on the robot hits the cylinders beside the one it is picking?
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The problem is the when the operators load parts in the trays they sometimes put them too close together so when the robot picks it hits the part next to it. I don't have a problem find/picking the parts normally. I just want to detect when that's the case and not go for the parts that are too close to each other.
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Hi
Check on the GPM locator, Area overlap. The answer is there.
It means how much from the green squares around your part are in top of each other.
If you have three or more parts the add to each other. Give it a try an you'll see the results -
Thanks Fabian,
I gave that a try and it did eliminate one of the 2 parts that overlapped but not both. So it still tried to pick one of 2 and hit the other. Am I missing something else? -
I would make a histogram tool around the part. If the histogram detects something fail the part.
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Sounds good but how do I fail the part or take it out of the list of parts?
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I am not currently connected to a robot but, you should be able to add an evaluation tool. Add both your GPM and histogram tools to it.
Example,
GPM score > 70%
And lets say are parts are back lit. Your histogram tool should be looking for something dark so you would set the histogram window from 0 to 150.
Histogram % in window < 30
At the bottom of the evaluation tool you would select if one of the tools is false fail the part. -
Thanks bbomkamp!
I'll give a shot and keep you posted! -
Worked like a charm!
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