Vision

Vision System: Shooting Hoops!

 Applications
• Why?
• Where?
 Applications
• Part inspection
– Cracks, dimensional, dirt, etc
• Part sorting, counting
– From bins holding parts, multi-sized parts in same
storage or area, etc
• Part assembly
– Fitting part to another part where dimensional
tolerance/control is not always tight/reliable
Image Acquisition
The CCD converts light into an
analog voltage, the camera then
converts the analog voltage into a
digital value.

The image is divided into grid of

square picture elements called
pixels.

Each pixel consists of a location

within the image (X/Y coordinates)
and a light intensity value or values.

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 Pixels – Monochrome
Cameras

0 255

Light intensity in a Monochrome Camera is represented as a

grayscale value from 0 to 255, with 0 representing black and 255
representing white.

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 Pixels – Color Cameras

In a Color Camera each color is composed of three separate color components.

These components may be represented as combinations of:

red, green, and blue (RGB);
or hue, saturation, and intensity (HSI).

Each component of a pixel is converted to a value from 0 to

255. 7
 Detection Types
• One Dimensional (1D)
– cheapest
• Two dimensional (2D)
– Faster and more common than 3D
• Three dimensional (3D)
– Most expensive and complex
 • Used when the part is constrained in two axis
– XY, XZ, or YZ
1D • Only need to detect part location/distance

Detection • Laser rangefinder

• Optical distance sensor
2D Detection

• Used when either the X, Y, or Z

is constrained
• Need to detect the other 2 axis

Example:
• objects are always sitting on a
conveyor belt
• therefore the height (Z) is not a
variable.
2-D machine vision – Area scan

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 2-D machine vision – Line scan

•Image is built line by line movement is needed

•Requires encoder to track movement Short exposure times

Built Image

Line Acquired

In-Sight 5604

Line Light

Conveyor
Belt
Movement

Encoder Shaft
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 Why Line
scan?
1. Unwrap cylindrical objects for
inspection

2. Add vision to space-constrained

environments

3. Meet high-resolution inspection

requirements

4. Inspect objects in
continuous motion
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 3D
Detection

• The parts are completely unconstrained

• Need to determine location and orientation
• Slower
• More complex programming

• Multiple cameras
– Requires triangulation computation
• or Laser displacement system
– LIDAR
3-D machine vision

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 Components
• ?
 Components
• Camera
• Lens
• Controller
• Illumination
• Input devices (serial RS232, parallel PLC,
keyboard)
• Output devices (monitor, serial RS232, parallel
PLC)
 Camera
Sony
Hitachi
Dalsa
Lumenera
JAI
etc
 Lens
• Fuji
• Cosmicar
• Rainbow
• etc
 Lens Characteristics
• Aperture
– Adjusts brightness by opening/closing the
diaphragm
• Focal Length
– Short focal length allows for objects that are close
to be brought into focus, while a longer focal
length will allow farther objects to be seen in
focus
• Focal Ratio – F-number – focal length divided
by the aperture diameter
Field of View
• How big is
the part?
• How
much
position
variance?
• Add 20%
extra
 Application
• Locate a 2” diameter object on a flat table
• Part location variance +/- 5”
• FOV should be 5” + 20% = 6” x 6”
 Depth of
field
Depth of Field (DOF)
 The distance in front
of and behind the
object which appears
to be in focus

3”

More DOF with a small aperture

(high f/number) than with a
large aperture (low f/number)
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Improving vision system performance
Different lens … same
image?
 Lighting
 Depth of field
 Working distance
 Line speed
 Exposure time
 Aperture
 Budget

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Illumination
 Selection of Illumination
• Backlight
– Uniform illumination behind a flat and transparent
surface
• Ring light
– Most common, allows uniform lighting around
camera
• Spot light
– Very powerful illumination created
 Back Lighting

Copyright © B. Thörnberg, S. Reza, H. Metaferia and A. Manuilskiy, Mid Sweden University

 Front Lighting

Copyright © B. Thörnberg, S. Reza, H. Metaferia and A. Manuilskiy, Mid Sweden University

 Inspection Types
?
 Inspection Types
- Colour - Count
- Shapes - Labes
- OCR/Text - Barcode/QR codes
- Edges
- Width
- Position
- Angles
• Bottling Line Video Link
• Manual Part Load Link