I've been spending hours on this issue. I have several identical parts in a try that a fixed camera is snapping and finding. sometimes it picks the part up perfect, other times it does not get rotation correct and picks the peice up with the wrong alignment. it is picking up oval peices the gripper is shaped the same way. so orientation is important. It is then taking that part and putting it on a post that mates with that orientation. so not a lot of room for error. the pieces are metal oval. hard part about it is that its "almost" a circle. Any ideas as to what i should try or start tweaking. (i.e redo TCP, USERFRAMES? OFFSETS? IMPLEMENT ADJ OFST? ) I have tweaked with masks, learning, elasticicty, score, contrast thresholds. I got it to recognize parts a little more quicker but its just missing that rotation frequently for some reason. Thanks. Sincerely. "another new guy"
IRVISION not picking up part in correct rotation every time.
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djshaun5 -
October 11, 2020 at 6:24 AM -
Thread is Unresolved
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Post a picture of your part.
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I messed with rotation on 2d single view setup in irvision. That seemed to help by changing the R parameter. I will grao a photo tomorrow. Thanks. 👍🏻
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Hi
Also. post a picture of your GPM locator
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Attached is my first problem. the grippers go down into the tray and they crash into the inserts next to them. I feel like this should be easy. basically it finds the parts great. the grippers crash into the parts next to it. i have score set high, and elasticty set low. in gpm finder. I'm going to post other pics below.
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gripper.
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Here is a photo of gripper going down into tray.
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Post a picture of your part.
I attached photos and problem. Thanks.
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Hi
Also. post a picture of your GPM locator
Thanks for responding I hope you find the photos helpful.
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Sorry everyone. I haven't been doing this long obviously. Kind of learning on the fly and not out of a book. Which I need to find irvision manual. I can't seem to find it online. Anyway the more I research I see I need to add a histogram and conditional tool to my gpm. I just have to find out the best settings. Is there literature or tutorials on histogram and conditional?
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Hi
Easy for me to talk because I'm not there with you but I do those kinds of parts all the time.
I don't think you need the outer ellipse perimeter. The part is well defined with the inner one.
I don't think you need the emphasis are neither
You should be able to detect those part really good if you play with the light. You have a white background and a shine object
I would recommend ( that's just me) that the origin cross matches the axis of the ellipse. They don't have to but it will be easier to identify issues
Put like 20 parts on all over the FOV on all different orientations, find them and post the picture. Show us also the results of the found one. Show even the "Almost found"
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The issue with the fingers hitting nearby parts is where you could use the histogram tool you mentioned. Basically you need to have a multi-step process. First you need to locate the part with your GPM tool, then you need to check if there is clearance around it. If there is you pick it, if not then you need to keep checking other parts, but make sure not to keep checking the same part otherwise you will be stuck in an infinite loop.
The easier solution would be to design a gripper that picks from the inside of the part, so there is no possibility of interference.
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The issue with the fingers hitting nearby parts is where you could use the histogram tool you mentioned. Basically you need to have a multi-step process. First you need to locate the part with your GPM tool, then you need to check if there is clearance around it. If there is you pick it, if not then you need to keep checking other parts, but make sure not to keep checking the same part otherwise you will be stuck in an infinite loop.
The easier solution would be to design a gripper that picks from the inside of the part, so there is no possibility of interference.
What visiontool can be used to check clearance around part?
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For 2D vision you could potentially use the histogram tool. Test it out and see!
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Found the resolution to it. a few things happened here.
apparenty. 0° 360° and 720° are considered the "same" spot.
positions are linear so they were just going to the closest spot of rotation. i had to manually spin rotation around 2 times to get it closer to 0° then re teach postions.
Also the robot crashed , so when re checking user frame with the dot plate it was off on all coordinates, then had to reteach userframe positions..
Next up was pattern recognition. I built a blank space blocks around part and used histogram tool to look for white space. If any contrast intruded in that blank histogram space it would invalidate the find. runs like a champ now. Thanks.
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HawkME Thanks!
djshaun5 Sounds similar to what I did. Added histogram tool for the area i want free and teach run time mask, for area in the part I will not include. But also added Conditional execution tool that look for the value from the histogram, to make the vision true or false, so I don't need to make additional program in the robots software. -
HawkME Thanks!
djshaun5 Sounds similar to what I did. Added histogram tool for the area i want free and teach run time mask, for area in the part I will not include. But also added Conditional execution tool that look for the value from the histogram, to make the vision true or false, so I don't need to make additional program in the robots software.Yes, exactly what I did. works like a champ.