3D Vision Application Fanuc

iRVision 2.5D Vision Stacking

The vision stacking program estimates the height of the target by observing the change in the target’s proportion within the camera’s field of view and guides the robot’s motion to compensate for the target’s offset. This includes not only the X-axis, Y-axis, and rotation in the X-Y plane (R), but also the Z-axis.

Using iRVision 2.5D allows the robot to pick up stacked targets using only a standard 2D camera.

iRVision Vision Stacking Program_1 (Extracting Z-axis Offset from Register R)

This function searches for the 2D position of the target and the specified register value through visual calculation, guiding the robot’s motion to compensate for the target’s offset. This includes not only the X-axis, Y-axis, and rotation in the X-Y plane (R), but also the Z-axis.

Register R is used to store the known Z-axis height of the target or the Z-axis height information detected by a distance sensor.

iRVision Vision Stacking Program_2 (Extracting Z-axis Offset from Stacking Layers)

This function calculates the position of the target by combining visual detection results with the number of layers (target height) determined based on the target’s proportion. The number of layers is automatically determined based on reference proportions and height data, allowing for precise calculation of the target’s specific position even with slight proportion errors in visual detection.

iRVision 2DV Multiple Field of View Function

The 2D multiple field of view program provides the ability to locate large targets using several fixed-position cameras, which is equally effective for detection using robot-mounted cameras.

iRVision 3DL Multiple Field of View Function

The 3D multiple field of view program provides the ability to locate large targets using several fixed-position 3D cameras, which is equally effective for detection using robot-mounted cameras.

iRVision Floating Coordinate System Function (Floating Frame)

The calibration of robot-mounted cameras can be used for iRVision programs at any position and orientation as shown in the figure below. The motion compensation in 2D mode is associated with the actual position of the camera. Calibration can be performed at any position, reducing the teaching workload.

iRVision 3DL LED Light Control

This function supports synchronizing the ON/OFF control of LED light sources during the capture of 2D images and laser illumination images in the 3DL vision program. This function allows for an appropriate external lighting environment, enhancing the overall capability of the vision system.

iRVision Automatic Exposure Function

According to changes in the surrounding light intensity, iRVision will automatically adjust the exposure time to achieve image effects similar to well-taught images, enabling all-weather operation.

iRVision Multiple Exposure Function

By imaging with multiple different exposure times, select an image close to the taught effect to obtain a broad and dynamic exposure range and imaging effect. This function performs well in environments with significant changes in light.

iRVision Ring Network Function (Robot Ring)

This function allows robots without the iRVision vision system to call offset detection data from robots equipped with the iRVision vision system via the network.

iRVision Blob Detection Function (Blob Locator Tool)

Detect the position of binary (black and white) targets that have similar characteristics (such as perimeter, curvature, etc.) as the taught model within the imaging range. When used with the Conditional Execution Tool, it can be applied in various scenarios such as target arrangement and quality inspection.

iRVision Grayscale Detection Function (Histogram Tool)

Detect light intensity (imaging grayscale) within a specified area and calculate various characteristics such as average, maximum, minimum, etc. When used with the Conditional Execution Tool, it can correspond to target arrangement and target presence detection in various scenarios.

This function is equivalent to the Associate Tool in V-500iA/2DV.

iRVision Multi-Window Detection Function (Multi-Window Tool)

Switch corresponding preset search windows by changing the values of register R within the robot controller.

iRVision Multi-Target Detection Function (Multi-Locator Tool)

Switch corresponding preset target vision programs by changing the values of register R within the robot controller.

iRVision Length Measurement Function (Caliper Tool)

Detect the edges of the target corresponding to a specified area and measure the length between the two edges (unit: pixel), which can be converted to mm by multiplying with a conversion factor. This can correspond to target arrangement and quality inspection applications.

iRVision Cross Section Detection Function (Cross Section)

Detect the local 3D characteristics of the target and display the cross-sectional shape of the target along the laser projection path. This is particularly effective when accurate positioning cannot be achieved in the 3D vision program due to a lack of effective feature quantities in 2D imaging.

iRVision Child Detection Function (Child Tool)

Allows adding a child target detection (GPM locator tool) under a parent target detection (GPM locator tool) to form a secondary detection directory. Child detection will be dynamically determined based on the results of parent detection. When used with the Conditional Execution Tool, it can correspond to target arrangement and target presence detection in various scenarios.

iRVision Position Adjustment Function (Position Adjust Tool)

Based on the results of child detection, adjust the positioning of the parent detection to correspond to the obvious features of the target surface (such as holes, key slots) to obtain more accurate offset and rotation data. This is particularly effective for applications that cannot be oriented using the entire taught model. For a superior detection, multiple subordinate child detections can be used to analyze various local characteristics of the target.

iRVision Curved Surface Matching Function (Curved Surface Matching Tool)

Detect the offset and rotation of curved surface targets through the stepped light intensity distribution (bright or dark, displayed in different colors within the model) on the target surface. Full circular objects can be recognized.

iRVision Measurement Output Function (Measurement Output Tool)

Output measurement values (such as “Score/分值”, “Size/比例” in Locator tool, “Length/长度” in Caliper tool) to the vision register VR. This data can be copied to the robot data register R and freely called in the TP program.

iRVision Vision Shift Function

Adjust the robot TP program through the vision program to correspond to the actual workpiece position, simply by adding a camera at the end of the robot’s gripper. The position data of three reference points on the fixed workpiece will be automatically detected and compensation data calculated. Using this function can greatly reduce the time for robot re-teaching after offline programming or relocation of the robot system.

iRVision Vision Mastering Function

Compensate the zero position data of the robot’s J2~J5 axes through the vision program, which can be executed by simply adding a camera at the end of the robot’s gripper. The robot changes its posture, and the relative position data between the camera and the determined target point will be automatically detected and compensation data calculated. This function can be applied to enhance the accuracy of robot TCP teaching, vision shift offline programming, and other vision applications.

iRVision Vision Frame Set Function_1

Set the robot TCP through the vision program, which can be executed by simply adding a camera to the corresponding position of the robot’s gripper TCP. The robot changes its posture, and the relative position data between the camera and the target point under the corresponding user coordinate system will be automatically detected and calculated for the robot’s corresponding TCP. This function can enhance the speed and accuracy of TCP teaching.

iRVision Vision Frame Set Function_2

Another function of coordinate system setting: set a user coordinate system equivalent to the vision calibration board through vision. The user coordinate system UF is set at the origin position of the vision calibration board (four-point method), or when the vision calibration board is mounted at the end of the robot’s gripper, the tool coordinate system UT is set at the origin position of the vision calibration board (six-point method).

Source: Toutiao No. Past and Future. Infringement will be deleted.

We are not just carriers of dry goods.

Only a follow away from the industrial robot master.

Guide Car Robot Academy, cradle of robotic craftsmen.