dobot magician vision kit installation...

ShenZhen Yuejiang Technology Co., Ltd.

Dobot Magician

Vision Kit

Installation Guide

User Guide

Issue: V1.0

Date: 2018-04-27

Dobot Vision Kit Installation Guide (based on Dobot Magician)

Issue V1.0（2018-04-27） User Guide Copyright © ShenZhen Yuejiang Technology Co., Ltd.

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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/

https://www.dobot.cc/

Dobot Vision Kit Installation Guide (based on Dobot Magician) Preface


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Preface

Purpose

This document describes the Dobot Magician vision kit and its installation, making it easy for

users to fully understand and use it.

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 Installation Guide (based on Dobot Magician) Contents


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Contents

1. Vision Kit Description ............................................................................................. 1

Overview ........................................................................................................................... 1

1.2 Vision Kit List ................................................................................................................... 1

1.3 Camera Parameters Description ........................................................................................ 3

1.4 Light Source Parameters Description ............................................................................... 3

1.5 Camera Lens Parameters Description ............................................................................... 4

2. Installation Guide ..................................................................................................... 6

Installing Camera .............................................................................................................. 6

Installing Dobot Magician .............................................................................................. 11

Dobot Vision Kit Installation Guide (based on Dobot Magician) 1 Vision Kit Description


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1. Vision Kit Description

Overview

The image processing system extracts the characteristics of the objects via setting the range of

Hue, Saturation, Value and pixel area of the images obtained from vision kit, transforms image

coordinates into Cartesian coordinates and transmits to Dobot Magician. Therefore, we can use

Dobot Magician to complete intelligent sorting and other operations.

1.2 Vision Kit List

Figure 1.1 shows the vision kit list, and Table 1.1 shows the details.

Table 1.1 Vision kit list

No. Accessories

1 Camera flange support with screws

2 Extension pole

3 Camera support with the stationary fixture

4 Industrial camera components with a USB cable

5 Camera light source kit

6 Chessboard

7 Screw set

8 Aluminum sheets



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Figure 1.1 Vision kit list



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1.3 Camera Parameters Description

Parameters Description

Camera model JHSM300f

Sensor Size 1/2''CMOS

Sensor Model MT9T001

Effective pixels 3,000,000 pixels

Color Color

Pixel Size 3.2um*3.2um

Frame rate/Resolution 12fps@2048*1536

Signal-to-noise ratio 42dB

Optical filter 650nm

Dynamic range 61dB

Shutter type Rolling shutter

Exposure time 50.8us-3329ms

Exposure control Automatic/Manual

Dimension 40mm*45mm*45mm

Data interface USB 2.0

Operating temperature 0℃-70℃

Lens mount Mount C

1.4 Light Source Parameters Description


Light source model JHZM-A40-W

Emitting color White

LED quantity 48 light-emitting diode

Illumination 40000Lux

Brightness Continuously adjustment, adjustable range: 0%-100%

The color temperature remains unchanged

Wavelength 455nm-457.5nm

Output voltage 12V

Output power 3.5W~5W



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Working distance 35mm-110mm

Specifications Internal diameter: 40mm

External diameter: 70mm

Height: 25mm

Ring Diameter Inside Max φ39mm

Weight 0.48KG

Working environment Temperature: 0℃-40℃

Humidity: 20%RH-85RH

Storage environment Temperature: -20℃-40℃

Humidity: 20%RH-85RH

1.5 Camera Lens Parameters Description


Lens Model M1614-MP2

Focal distance 16mm

Maximum ratio of lens diameter to focal distance 1: 1.4

Maximum imaging size 8.8mm*6.6mm (φ 11mm)

Aperture range F1.4C-F16C

Focus 0.3m-Inf

Control mode Aperture Manual

Focus Manual

Field of view with minimum object distance 2/3'': 16.5 (H)cm*12.4 (V)cm

Field angle (D*H*V) 2/3'' 38.0°*30.8°*23.4°

1/2'' 28.2°*22.7°*17.1°

Operating temperature -20℃-50℃

Resolution (center/edge) 100lpm

Deformation rate 2/3'' -0.1% (y=5.5)

1/2'' -0.3% (y=4.0)

Back focal length 13.1mm

Flange back length 17.526mm



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Mount Mount C

Filter size M30.5P+0.5mm

Size φ33.5mm*28.2mm

Weight 65g

Working distance 300mm 250m 200mm 150mm 100mm

Optical magnification 0.05X 0.06X 0.08X 0.10X 0.15X

Expanding ring - 0.5mm 0.5mm 1.0mm 1.5mm

Dobot Vision Kit Installation Guide (based on Dobot Magician) 2 Installation Guide


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2. Installation Guide

Installing Camera

Procedure

Fix the camera flange support to the bottom of the extension pole with

screws, as shown in Figure 2.1.

Figure 2.1 Install camera flange support

Connect the two extension poles, as shown in Figure 2.2.

Figure 2.2 Connect the two extension poles



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Fix the end of the extension pole with Camera flange support to the camera

holder using four M5*12 hexagonal screws, as shown in Figure 2.3.

Figure 2.3 Fix extension pole

Install the camera support. Figure 2.4 shows the installation style.

Figure 2.4 Install camera support



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Fix the camera to the center of the stationary fixture on the

camera support and adjust the gap, as shown in Figure 2.5.

Figure 2.5 Fix the industrial camera

NOTICE

When fixing the camera, please turn the USB port of the camera towards the outside of

the fixture to avoid that the imaging on the VisionDemo page is opposite to the actual

image, as shown in Figure 2.6.

Figure 2.6 Location of the USB port



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NOTICE

Please adjust the height of the camera support based on actual requirements. The camera

support cannot hinder the movement of Dobot Magician.

Figure 2.7 Fix the camera support

Figure 2.8 USB connection



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Figure 2.9 Fasten the light source kit

Figure 2.10 Plug the power supply of the light source kit



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Installing Dobot Magician

Procedure

Fix Dobot Magician to the platform. For details, please see Dobot Magician User

Guide.

Adjust the camera support to ensure that the camera can view the workspace of Dobot

Magician, as shown in Figure 2.11.

Figure 2.11 Install Dobot Magician

dobot magician vision kit installation...

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