Vision Guided Robotics

Laura Evans, Sr. District Manager

Laura.evans@fanucamerica.com
724-612-3512
Integrated Machine vision is
a game Changer – take
control of Your processes
with a new Level of
intelligence.
Why Use Vision??
• Locate parts in 2D or 3D for processing
and/or handling, eliminating the need for
costly precision fixtures.
• Provides flexibility for multiple
• COST SAVINGS
parts/processes with minimal changeover. • FLEXIBILITY
• Capability for further part inspection and
adaptability for variation, improving • RELIABILITY
reliability and quality.
Other features: • QUALITY
• Sort by color, shape or many other features
• Read 1D and 2D barcodes
• Calibrate your robot, define tooling
reference frames, identify fixture locations.
Robotic Vision Guidance – Commonly-used brands

+RVision

Completely Integrated Machine Vision System

3DV/400 3D Sensor
2D Guidance & 3DL Guidance & 3D Area Sensor Guidance, Bin
Inspection Inspection Bin Picking/Depalletizing Picking/Depalletizing
 Robotic Vision Guidance -- Types

Visual
3DV Robot iRCalibration
2D Fixed Tracking
Mounted

2D Robot 3DV Fixed 3D Area Sensor

Mounted Bin Picking /
Depalletzing Defect
Detection
 Case Study:
Problem:
• TE Connectivity had multiple types and sizes of electrical connectors.
• They run High Variety and Lower Batch Sizes, with frequent changeover.
• They had reliability issues with operators not seating the ‘chicklets’ correctly
 Case Study:
2D Fixed
Solution:
• Infeed with 2D Vision for locating ‘A’ and ‘B’ chicklets.
• Flexible feeder with 2D Vision for locating housing.
 Case Study:
Problem:
• Hershey’s Almond Joy candy bars had issues with missing almonds.
• Multiple operators were needed to inspect/add almonds prior to coating.
• They still had missing almonds and wanted to remove people from process.
 Case Study:
Solution:
2D Fixed/
Tracking
• Hopper with infeed for replacement almonds with 2D Fixed vision.
• 2D Inspection with LineTracking for locating missing almonds.
 Vision Guidance – Visual Tracking Examples

Visual
Tracking
 Case Study: Camshaft Manufacturer
Problem:
• Customer runs a variety of sizes.
3D Area Sensor
Bin Picking
• They wanted to automate machine Load/Unload operations ,
but didn’t want to dump parts onto conveyor for fear of
damage.
 Case Study: Camshaft Manufacturer
Solution:
• 3D Vision for bin picking with magnet gripper.
3D Area Sensor • Secondary 2D vision for precise location.
Bin Picking
 3D Bin Picking – Dual Machining Example

3D Area Sensor
Bin Picking
3D Vision: Not just for Bin Picking!
Piece Picking / Depalletizing
 3DV Vision for Robot Guidance
Concave / Convex Check

2D Image 3D Image

It is hard to distinguish concave / convex

Height difference is clearly visible
 3DV Vision for Robot Guidance
Influence of Background Texture

2D Image 3D Depth Image

Background mesh may cause false detection. Clearly separated by height difference
 Vision Guidance -- iRCalibration
Joint Axis Mastering Accurate TCP Accurate U-Frame

Multi-Arm Calibration
(Only with Vision)
 iRcalibration: User Frame Example
Vision can be used to re-position a robot cell at various stations or for adjusting for things like die changeover.

Video featuring Aethon Tug and FANUC CR7iA Robot

 Vision Reliability
#1 Rule: Control your lighting!!!
Imaging: Optics and illumination contributes over 80% to
success of an application.

Goal of Lighting for Machine Vision Applications:

 Create a high-quality image
 Eliminate or overcome effects of ambient light
 Provide a consistent image over broad changes in part
presentation

Just because you can see it with the naked eye,

doesn’t mean machine vision can!!
 Vision Reliability
#2 Rule: Properly calibrate your camera and
have well-defined U-Tool
1) Traditional Method with Calibration Grid and Pointer 2) Automatic Calibration with Fixed-mounted Camera
 Vision Reliability
#3 Rule: Write a robust program
If a vision process fails, you can programmatically adjust the vision functions
and re-snap/retry.
• Exposure Time
• Number of Exposures
• Angle Range
• Scale Range 1: VISION RUN_FIND 'PALLET' ;
• Aspect Ratio Range 2: VISION GET_OFFSET 'PALLET' VR[1] JMP LBL[99] ;
3: LBL[1] ;
• Score 4: ;
5: !Part Found, now pick it ;
• Contrast Threshold 6:J P[1] 100% FINE VOFFSET,VR[1] ;
7: ;
• Elasticity 8: END ;
9: ;
• Blob Area 10: LBL[99] ;
11: !Part not found change min area ;

• Blob Perimeter 12: VISION OVERRIDE 'BLOBAREA' 80.0 ;

13: !Retry with new min area override ;
14: VISION RUN_FIND 'PALLET' ;
15: VISION GET_OFFSET 'PALLET' VR[1] JMP LBL[100] ;
16: JMP LBL[1] ;
17: ;
18: LBL[100] ;
 We practice what we preach!!
FANUC iRVision used for robots building robots

FANUC Robot factory

Want to learn more???
FANUC iRVision YouTube

October 31, 2019

40
 THANK YOU FOR YOUR TIME
AND CONSIDERATION

October 31, 2019

41