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ShenZhen Yuejiang Technology Co., Ltd.
Dobot Magician
Vision Kit Package Guide
User Guide
Issue: V1.0.0
Date: 2018-04-27
Dobot Vision Kit Software User Guide (based on Dobot Magician)
Issue V1.0.0(2018-04-27) User Guide Copyright © Yuejiang Technology Co., Ltd.
i
Copyright © ShenZhen Yuejiang Technology Co., Ltd. 2018. 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 non-
infringement 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: https://www.dobot.cc/
Dobot Vision Kit Software User Guide (based on Dobot Magician) Preface
Issue V1.0.0(2018-04-27) User Guide Copyright © Yuejiang Technology Co., Ltd.
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Preface
Purpose
This document describes how to implement camera calibration, feature extraction, and pick-
and-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 Description
DANGER
Indicates a hazard with a high level of risk which, if not
avoided, could result in death or serious injury
WARNING
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
NOTICE
Indicates a potentially hazardous situation which, if not
avoided, can result in robotic arm damage, data loss, or
unanticipated result
NOTE Provides additional information to emphasize or
supplement important points in the main text
Dobot Vision Kit Software User Guide (based on Dobot Magician) Contents
Issue V1.0.0(2018-04-27) User Guide Copyright © Yuejiang Technology Co., Ltd.
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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 ......................................................... 12
FAQ ...................................................................................................................... 15
Dobot Vision Kit Software User Guide
(based on Dobot Magician)
1 Vision-based Picking Process
Issue V1.0.0(2018-04-27) User Guide Copyright © Yuejiang Technology Co., Ltd.
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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.
NOTICE
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
Dobot Vision Kit Software User Guide
(based on Dobot Magician)
2 Preparations
Issue V1.0.0(2018-04-27) User Guide Copyright © Yuejiang Technology Co., Ltd.
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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
https://www.dobot.cc/downloadcenter.html?sub_cat=73#sub-download.
For detailed information about vision kit installation, contact sales engineers for
its user guide.
Dobot Vision Kit Software User Guide
(based on Dobot Magician)
3 Calibrating Camera
Issue V1.0.0(2018-04-27) User Guide Copyright © Yuejiang Technology Co., Ltd.
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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
NOTICE
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.
Dobot Vision Kit Software User Guide
(based on Dobot Magician)
3 Calibrating Camera
Issue V1.0.0(2018-04-27) User Guide Copyright © Yuejiang Technology Co., Ltd.
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Figure 3.2 Calibration interface
Figure 3.3 Red, green, blue points on the chessboard image and their coordinates
Dobot Vision Kit Software User Guide
(based on Dobot Magician)
3 Calibrating Camera
Issue V1.0.0(2018-04-27) User Guide Copyright © Yuejiang Technology Co., Ltd.
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NOTICE
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.
NOTICE
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
Dobot Vision Kit Software User Guide
(based on Dobot Magician)
3 Calibrating Camera
Issue V1.0.0(2018-04-27) User Guide Copyright © Yuejiang Technology Co., Ltd.
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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,
Dobot Vision Kit Software User Guide
(based on Dobot Magician)
3 Calibrating Camera
Issue V1.0.0(2018-04-27) User Guide Copyright © Yuejiang Technology Co., Ltd.
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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
Dobot Vision Kit Software User Guide
(based on Dobot Magician)
4 Extracting Feature
Issue V1.0.0(2018-04-27) User Guide Copyright © Yuejiang Technology Co., Ltd.
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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
NOTICE
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.
Dobot Vision Kit Software User Guide
(based on Dobot Magician)
4 Extracting Feature
Issue V1.0.0(2018-04-27) User Guide Copyright © Yuejiang Technology Co., Ltd.
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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 4.4.
Dobot Vision Kit Software User Guide
(based on Dobot Magician)
4 Extracting Feature
Issue V1.0.0(2018-04-27) User Guide Copyright © Yuejiang Technology Co., Ltd.
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NOTICE
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.
NOTICE
During the setup process, ensure that Min Area is less than Max Area.
Figure 4.5 Set the Min Area and Max Area parameters
Dobot Vision Kit Software User Guide
(based on Dobot Magician)
4 Extracting Feature
Issue V1.0.0(2018-04-27) User Guide Copyright © Yuejiang Technology Co., Ltd.
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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.
Dobot Vision Kit Software User Guide
(based on Dobot Magician)
5 Performing Vision Pick-and-Place Tasks
Issue V1.0.0(2018-04-27) User Guide Copyright © Yuejiang Technology Co., Ltd.
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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.
NOTICE
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.
NOTICE
To keep enough height for placing two red cubes, ensure that this target position
is two times as high as one red cube.
Dobot Vision Kit Software User Guide
(based on Dobot Magician)
5 Performing Vision Pick-and-Place Tasks
Issue V1.0.0(2018-04-27) User Guide Copyright © Yuejiang Technology Co., Ltd.
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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 2.
1. 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
Dobot Vision Kit Software User Guide
(based on Dobot Magician)
5 Performing Vision Pick-and-Place Tasks
Issue V1.0.0(2018-04-27) User Guide Copyright © Yuejiang Technology Co., Ltd.
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Figure 5.4 Start the vision-based pick-and-place
Dobot Vision Kit Software User Guide
(based on Dobot Magician)
6 FAQ
Issue V1.0.0(2018-04-27) User Guide Copyright © Yuejiang Technology Co., Ltd.
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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.
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