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Mitsubishi Electric develops new purpose vision sensor and object recognition technology

Mitsubishi Electric published a small three-dimensional vision sensor and three-dimensional object recognition technology for high-speed and high-precision measurement of part position and inclination on February 14th, 2008. The product is developed for small vertical multi joint robots and other unit production robots manufactured by the company. It weighs about 800g and can be installed on a robot with a handling weight of about 3kg

generally speaking, unit production is different from production line production. Part pallets have the advantages of small size and low price. However, there are also problems that feeders cannot be used and parts supply cannot be automated. To solve this problem, we need a three-dimensional recognition device to convey the recognition information to the robot by identifying the position and inclination of the parts, so that we can grasp the parts in order from the place where it is easy to grasp the parts. However, the higher the accuracy of the original three-dimensional recognition device, the larger the size, so it is difficult to apply to unit production. For this reason, the company has developed three-dimensional vision sensors that can be installed on small industrial robots suitable for unit production, as well as objects that can recognize various parts at high speed. Therefore, Wang Xianhong aims at the recognition technology in the field of agricultural mulching film

the newly developed vision sensor is composed of a laser projection part that irradiates graphics for three-dimensional measurement and a camera part that takes pictures of graphics. By acquiring and combining two-dimensional image information and three-dimensional distance information at the same time, the sensor can recognize the position and state of parts with high speed and high precision. The average distance error of recognition at a distance of 30cm is ± 0.6mm, and the processing time is 0.15 seconds. Even small screw shaped parts can be taken from the most easily accessible parts among the scattered parts in a short time

one of the technologies that makes such high-precision recognition possible is to configure eight LED light sources around the camera. By analyzing the images taken when these LEDs are lit in turn, the wheel Guo of the parts can be accurately captured. It turns out that the shape of electroplated parts and shiny metal parts is difficult to recognize because of the changes in the surrounding conditions, but the actual drop can be easily detected by shining light from eight directions to form a shadow. The specific steps are as follows

first, when the laser irradiates the measurement pattern, use the camera to shoot synchronously to obtain a two-dimensional thick and thin image. At the same time, the distance is calculated in three dimensions. The two-dimensional image will display the horizontally placed parts that are exposed more in the stacked parts and easy to be grabbed by the robot in dense tones. The three-dimensional information will show the parts closer to each other in bright colors. On this basis, after the position and state information converted into robot coordinates are transmitted to the robot, the machine starts the selection operation. Take the parts to the outside of the pallet for temporary placement, and then assemble them by confirming the orientation of the parts and selecting them again

in the actual unit production site, the robot that takes out multiple parts from each pallet and the robot that installs the removed parts can be used together

in terms of lens replacement and focusing, the original three-dimensional vision sensor uses new materials to make lithium batteries more semi aromatic. Pa6.6 (akroloy) "longevity" requires high-end technology, which is difficult to operate on the production site. Therefore, the company also developed a new measurement algorithm. In this way, it can not only simply carry out high-precision distance measurement, but also make the on-site adjustment work easier, and shorten the time of adjustment and workpiece replacement, but this has little impact on the price (except for the gantry)

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