Dobot Magician Vision Kit Package Guide

Transcription

1 User Guide Dobot Magician Vision Kit Package Guide Issue: V1.0.0 Date: ShenZhen Yuejiang Technology Co., Ltd.

2 Copyright ShenZhen Yuejiang Technology Co., Ltd All rights reserved. No part of this document may be reproduced or transmitted in any form or by any means without prior written consent of Yuejiang Technology Co., Ltd. Disclaimer To the maximum extent permitted by applicable law, the products described (including its hardware, software and firmware, etc.) in this document are provided AS IS, which may have flaws, errors or faults. Yuejiang makes no warranties of any kind, express or implied, including but not limited to, merchantability, satisfaction of quality, fitness for a particular purpose and noninfringement of third party rights. In no event will Yuejiang be liable for any special, incidental, consequential or indirect damages resulting from the use of our products and documents. Before using our product, please thoroughly read and understand the contents of this document and related technical documents that are published online, to ensure that the robotic arm is used on the premise of fully understanding the robotic arm and related knowledge. Please use this document with technical guidance from professionals. Even if follow this document or any other related instructions, Damages or losses will be happen in the using process, Dobot shall not be considered as a guarantee regarding to all security information contained in this document. The user has the responsibility to make sure following the relevant practical laws and regulations of the country, in order that there is no significant danger in the use of the robotic arm. ShenZhen Yuejiang Technology Co., Ltd. Address: 4F, A8, Tanglang Industrial Area, Taoyuan Street, Nanshan District, Shenzhen, PRC Website: i

3 Preface Preface Purpose This document describes how to implement camera calibration, feature extraction, and pickand-place using three software tools contained in Dobot Magician vision kit package. Intended Audience This document is intended for: Customer Engineer Sales Engineer Installation and Commissioning Engineer Technical Support Engineer Change History Date Change Description 2018/04/27 The first release Symbol Conventions The symbols that may be founded in this document are defined as follows. Symbol DANGER WARNING NOTE Description Indicates a hazard with a high level of risk which, if not avoided, could result in death or serious injury Indicates a hazard with a medium level or low level of risk which, if not avoided, could result in minor or moderate injury, robotic arm damage Indicates a potentially hazardous situation which, if not avoided, can result in robotic arm damage, data loss, or unanticipated result Provides additional information to emphasize or supplement important points in the main text ii

4 Contents Contents Vision-based Picking Process... 1 Preparations... 2 Windows System Requirements... 2 Obtaining Vision Kit Software Package... 2 Prerequisites... 2 Calibrating Camera... 3 Extracting Feature... 8 Performing Vision Pick-and-Place Tasks FAQ iii

5 1 Vision-based Picking Process Vision-based Picking Process Dobot Magician vision kit package involves three software tools Calibration, HSV_Debug, and SortColor. This topic describes how to complete vision identification with these software tools. Figure 1.1 shows the process. Only launch one software tool at a time. Otherwise, the COM port is being used, and the other software cannot be launched. Figure 1.1 Vision-based pick-and-place process 1

6 2 Preparations Preparations Windows System Requirements Dobot Magician vision kit software tools support the following Windows versions. Windows 7 Windows 8 Windows 10 (This manual is explained based on this version) Obtaining Vision Kit Software Package You can contact sales engineers for the latest vision kit software package containing the three software tools above, and decompress it to a specific directory. Prerequisites Dobot Magician has been installed, powered on, and connected to a PC. Dobot Magician vision kit has been installed and connected to the same PC as above. Vision kit package has been obtained. NOTE For more information about how to install robotic arm, download Dobot Magician User Manual v1.2.5 from For detailed information about vision kit installation, contact sales engineers for its user guide. 2

7 3 Calibrating Camera Calibrating Camera The Dobot Magician Calibration software is designed to get the coordinate transformation matrix transformed from points in image coordinate system to the corresponding points of robotic arm in the Cartesian coordinate system. Procedure Figure 3.1 Pen holder kit Installation Please make sure the chessboard image on the Calibration interface is clear. If not, please set the lens aperture, the focal length or light source on the camera to make it clear, avoiding camera calibration failure. For details, contact sales engineers for the relevant user guide. 3

8 3 Calibrating Camera Figure 3.2 Calibration interface Figure 3.3 Red, green, blue points on the chessboard image and their coordinates 4

9 3 Calibrating Camera Ensure that red, green, and blue points on the chessboard image correspond to Red Point, Green Point, and Blue Point on the Image Points panel. Otherwise, no correct coordinates will be got. Do not place foreign objects within the camera s range. Otherwise, red, green, and blue calibrated points may not be displayed on the chessboard image or Calibration software does not work. During the camera calibration, do not move the chessboard. If moved, wrong coordinates are transformed. 1. In the Dobot Points area, click Calibrate Dobot (Home) to set the robotic arm back to its home point for getting a correct reference position, as shown in Figure 3.4. During the homing procedure, do not hinder the robotic arm's movement with an obstacle. Otherwise, homing for the robotic arm fails. If failed, perform the homing process again. Figure 3.4 Home the robotic arm 5

10 3 Calibrating Camera 2. According to the red point on the chessboard image, move the Dobot Magician to the corresponding point on the actual chessboard. To get correct coordinates in the Cartesian coordinate system, ensure that the pen tip is located right above this point. Figure 3.5 Red point and its corresponding point on the actual calibration board 3. In the Dobot Points area, click Red Point to get the corresponding Cartesian coordinate of the robotic arm, as shown in Figure 3.6. Figure 3.6 The corresponding red coordinate in the Cartesian coordinate system 4. Get the corresponding Cartesian coordinates of green and blue points respectively by referring to the description in 2 and 3. The Result dialog box is displayed, indicating the camera calibration is successful, 6

11 3 Calibrating Camera as shown in Figure 3.6. Besides, CalibrationParams.xml file is generated to save the coordinate transformation matrix transformed from points in image coordinate system to the corresponding points of the robotic arm in the Cartesian coordinate system, which is stored in the same directory as that of the Calibration software. Figure 3.6 Result dialog box 7

12 4 Extracting Feature Extracting Feature HSV color model consists of Hue, Saturation, and Value. The Dobot Magician HSV_Debug software is designed to extract feature from the color cubes by setting the HSV parameters. Procedure Place red, green, and blue cubes on the camera holder, as shown in Figure 4.1. Figure 4.1 Place red, green, and blue cubes on the camera holder To prevent feature extraction failure, ensure that the cube image on the HSV_Debug interface is clear. Otherwise, set the lens aperture, the focal length or light source on the camera. For detailed information about these settings, contact sales engineers for the relevant user guide. 8

13 4 Extracting Feature Figure 4.2 HSV_Debug interface 1. Click GetImage. 2. Select Red to locate the red cube s position on the HSV_Debug interface, as shown in Figure 4.3. NOTE During the feature extraction, if you want to view the image of the color cubes, click GetImage. Figure 4.3 Select Red label for the red cubes 3. Drag the sliders of Hue, Saturation, and Value parameters until the red cubes turn white and the other cubes are disappeared, as shown in Figure

14 4 Extracting Feature While setting the HSV parameters, make sure LowH is smaller than HighH, LowS smaller than HighS, and LowV smaller than HighV. Figure 4.4 Set the HSV parameters 4. Set the pixel area. Adjust the Min Area and Max Area parameters until the white cubes above turn blue, as shown in Figure 4.5. During the setup process, ensure that Min Area is less than Max Area. Figure 4.5 Set the Min Area and Max Area parameters 10

15 4 Extracting Feature 5. Click OK. The Result dialog box is displayed, indicating that feature extraction is successful, as shown in Figure 4.6. Besides, HSVParams.xml file is generated to save the feature of the red cubes, which is stored in the same directory as that of the HSV_Debug software. Figure 4.6 Result dialog box 6. Click OK to close the Result dialog box. 7. Select Green and Blue for green and blue cubes respectively to obtain the features from green and blue cubes by referring to the description in 2 and 6. 11

16 5 Performing Vision Pick-and-Place Tasks Performing Vision Pick-and-Place Tasks The SortColor software is designed for vision-based picking and placing color cubes. This process is completed by calling the previously saved files CalibrationParams.xml and HSVParams.xml, setting the target positions where the color cubes should be moved to, and configuring the suck height where the robotic arm begins to carry the cubes. Procedure Place the red, green, and blue cubes on the camera holder. The SortColor interface is displayed, as shown in Figure 5.1. It shows an image of six color cubes taken with the camera. To prevent vision-based pick-and-place failure, ensure that the cube image on the SortColor interface is clear. Otherwise, set the lens aperture, the focal length or light source on the camera. For detailed information about these settings, contact sales engineers for the relevant user guide. Figure 5.1 SortColor interface 1. Move the Dobot Magician to the target position for the red cube. To keep enough height for placing two red cubes, ensure that this target position is two times as high as one red cube. 12

17 5 Performing Vision Pick-and-Place Tasks 2. In the Red PlacePoint area, click Get to get the target position coordinate for the red cube, as shown in Figure 5.2. Figure 5.2 Get the red cube s target position coordinate 3. Set the target position coordinates for green and blue cubes respectively by referring to the description in 1 and Move the robotic arm until the suction cup is right above up a color cube and close enough to lift this cube. 2. In the Suck Height Setting area, click Get Suck Height to get the suck height, as shown in Figure 5.3. Figure 5.3 Get the suck height 13

18 5 Performing Vision Pick-and-Place Tasks Figure 5.4 Start the vision-based pick-and-place 14

19 6 FAQ FAQ Q: What should I do if the following error message dialog appears, as shown in Figure 6.1, when launching the Calibration, HSV_Debug or SortColor software? Figure 6.1 Error message dialog A: Only launch one software tool at a time. Otherwise, the COM port is being used, and the other software cannot be launched correctly. Ensure that both the robotic arm and vision kit are connected to the same PC via USB cables. Close the corresponding software process in the Windows task manager. 15