ximing vision vision expert 2015-12-11 tel ： 021-33821033 / 33821031 / 33820483 / 50302319 fax ：...

Ximing Vision

Vision Expert

23/4/22TEL ： 021-33821033 / 33821031 / 33820483 / 50302319 FAX ： 021-33821032

Add ： Plat D, Floor 27, No.58, Xin Jin Qiao Road, Pudong, Shanghai ShangHai Ximing-Vision Tech

123/4/22

• 3D-Locate & 3D Sensor

刘少鹏E-Mail: [email protected]

Tel: 15261520319

• Continuously Exceeds customer Expectations

Ximing Vision

Vision Expert

23/4/22TEL ： 021-33821033 / 33821031 / 33820483 / 50302319 FAX ： 021-33821032


2

ID Readers

Cognex Core Products

Ximing Vision

Vision ExpertWhat is Cognex 3D Vision?

Cognex 3D vision uses two dimensional images and tools from one or more cameras’ point of view to generate information about an object in 3D space.

Using 2D images and tools allows Cognex 3D vision to accuratelypinpoint a 3D position by establishinga mathematical relationship betweenthe 2D coordinate systems in eachcamera’s image and the physicalworld.

23/4/22TEL ： 021-33821033 / 33821031 / 33820483 / 50302319 FAX ： 021-33821032


23/4/22

Ximing Vision

Vision ExpertWhat is VisionPro 3D Add-In?

• The VisionPro 3D Add-In is a .Net library of classes that enables VisionPro software to perform 3D calibration and object location.

• A supported software version of VisionPro is required to create a 3D vision application using the VisionPro 3D Add-In.

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23/4/22

Ximing Vision

Vision ExpertWhat is VisionPro 3D Add-In?

An extension to VisionPro for 3D pose determination that can be used in different configurations:

Single Camera Fixed 3D

Multi-camera 3D Photogrammetry

Multi-camera Short Baseline 3D

Single Camera

3D Active Vision

Multi-camera short baseline

3D Active Vision

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23/4/22

Ximing Vision

Vision ExpertVisionPro 3D Add-In Getting Starter Kit

• Tripod• Mounting plate, screws, and

Allen wrenches• Dual-port GigE network adapter• Cognex 10mm calibration plate• Cognex 20mm calibration

plate(optional)• Two Basler Ace 1.3 MP

cameras and PoE power supplies(update to 2MP in 7.2 Starter Kit)

• Two 6mm lenses• 4 ENET cables• Two 25mm x 50mm x 75mm

spacer blocks

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23/4/22

Ximing Vision

Vision ExpertVisionPro 3D Starter Kit Hardware

Mounting HardwareAdjustable camera plate and tripod

Calibration Plates300mm standard600mm optional “1-2-3” Sample Part

25 x 50 x 75mm block

CamerasTwo Basler GigE cameras & cables

AccessoriesPower over Ethernet (PoE) injectorsCamera network card

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23/4/22

Ximing Vision

Vision ExpertCalibration Overview

• 3D calibration establishes a mathematical relationship between the 2D coordinate system associated with the pixels in an acquired image

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23/4/22

Ximing Vision

Vision Expert3D Calibration

Calibration procedure depends on application setup:

3D Camera calibration (fixed cameras, manually move calibration plate to different positions)

3D Robot Hand-Eye calibration (moving camera mounted at robot hand, fixed calibration plate)

3D Robot Hand-Eye calibration (stationary camera, moving calibration plate mounted at robot hand)

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23/4/22

Ximing Vision

Vision Expert3D Calibration

Calibration plate

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23/4/22

Ximing Vision

Vision ExpertRaw2D Concepts

• Raw2D space refers to a left-handed 2D coordinate system established by and acquired image.

• Uses pixels as units.• Origin at upper left-hand

corner.• A Raw2D point in Raw2D

space is simply an (x, y) coordinate identified within a Raw2D coordinate system.

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23/4/22

Ximing Vision

Vision ExpertPhys3D Concepts

• Phys3D refers to a right-handed 3D physical coordinate system established by the 3D calibration process.

• Uses physical units (initially defined by the calibration plate and spacing between plate views).

• Origin defined by fiducial mark on calibration plate.

• X and Y axes are aligned to calibration grid, Z axis normal to plate extending away from camera.

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23/4/22

Ximing Vision

Vision Expert3D Calibration Basics

• 3D calibration establishes an accurate correspondence between 2D locations in and image using a 3D calibrated camera and a 3D location in physical in front of the camera.

• The correspondence is created by the mathematical linking of the different transformations (Coordinate spaces).

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23/4/22

Ximing Vision

Vision Expert3D Camera Calibration

A Camera Calibration includes two sets of parameters:

Intrinsic parameters

Properties of the acquisition system that are internal to the camera/lens system (lens distortion)

Extrinsic parameters

Properties of the acquisition system that are external to the camera/lens system (position and orientation of camera in 3D space)

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23/4/22

Ximing Vision


A Camera Calibration is needed for all 3D operations (triangulation, pose estimation,…)

A CameraCalibration can be created from a HandEye calibration result and a robot pose.

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23/4/22

Ximing Vision


Multiple stationary cameras

Requires one World Origin Viewset

Requires Tilted Viewsets

Elevated Viewsets recommended(Optional)

CalibrationWizard application can be used for 3D Camera Calibration.

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23/4/22

Ximing Vision


World Origin Viewset

The Calibration Plate coordinate system defines the 3D World Coordinate System (Phys3D space)

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23/4/22

Ximing Vision


Tilted Viewsets

The Calibration Plate must be tilted and rotated

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23/4/22

Ximing Vision


Elevated Viewsets

The Calibration plate must be elevated by multiple steps across the operating volume height. It must remain parallel to the World Origin position! Elevated views improve accuracy of Intrinsic params.

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23/4/22

Ximing Vision

Vision ExpertAssessing the Calibration’s Quality

• Using the Cog3DCameraCalibrationResult class:– Use the OverallResidualsRaw2D() and OverallResidualsPhys3D() methods to

obtain statistics for all plate poses and cameras.• These global residual error measurements reflect the overall accuracy of the

calibration

– Use the ResidualsRaw2D(j, i) and ResidualsPhys3D(j, i) for statistics on a combination of a single camera (i) and a single plate pose (j).

• These plate and camera level statistics help to identify optical or mechanical issue with a particular camera of plate pose.

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23/4/22

Ximing Vision

Vision Expert

Spaces associated with a 3D calibration using two

cameras

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23/4/22

Ximing Vision

Vision Expert

3D Robot Hand-Eye Calibration (moving camera(s))

Fixed calibration plate must be acquired from different distances and view angles.

Robot (hand) positions must be recorded.

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23/4/22

Ximing Vision

Vision Expert

Robot Hand-Eye Calibration (moving camera(s))

Coordinate spaces(Moving Camera(s))

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23/4/22

Ximing Vision

Vision ExpertRobot Hand-Eye Calibration

( Stationary Camera(s))

Coordinate spaces(Moving calibration plate)

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23/4/22

Ximing Vision

Vision Expert

Robot Pose and HandEye Calibration result

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23/4/22

Ximing Vision

Vision ExpertWhat is the Robot Pose?

• Hand3DFromRobotBase3D is the pose of Hand3D space

• (TCP/End effector) in RobotBase3D space.

• Robot: ABB/Kuka/Mitsubishi/Denso/Keba /…

• Cog3DTransformRigid• Translation----Cog3DVect3(X,Y,Z)• Rotation----Cog3DTransformRotation

EulerXYZ, EulerZYX, EulerZYZ … …Cog3DQuaternionCog3DMatrix3x3

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23/4/22

Ximing Vision

Vision Expert3D Coordinate Mapping

Map 3D coordinates to 2D Image space

23/4/22TEL ： 021-33821033 / 33821031 / 33820483 / 50302319 FAX ： 021-33821032


23/4/22

Ximing Vision

Vision Expert3D Coordinate Mapping

Map 2D coordinates to 3D space

23/4/22TEL ： 021-33821033 / 33821031 / 33820483 / 50302319 FAX ： 021-33821032


23/4/22

Ximing Vision

Vision Expert3D Point Triangulation

• Triangulation is the process of determining a 3D location of a physical point using two or more cameras calibrated to the same 3D physical space and their 2D projections of the same physical point.

23/4/22TEL ： 021-33821033 / 33821031 / 33820483 / 50302319 FAX ： 021-33821032


23/4/22

Ximing Vision

Vision Expert3D Point Triangulation

• You must provide accurate projections of the same 3D point to each of the cameras.

23/4/22TEL ： 021-33821033 / 33821031 / 33820483 / 50302319 FAX ： 021-33821032


23/4/22

Ximing Vision

Vision Expert3D Model Pose Estimation Overview

• 3D model pose estimation is the process of using corresponding sets of 2D image points from 3D calibrated cameras to determine the pose of a 3D shape.

• The 2D points can be obtained using common vision tools like PMAlign, PointPointIntersect, FindEllipse, FindCircle …

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23/4/22

Ximing Vision

Vision Expert3D Model Pose Estimation Concepts

• 3D pose estimation depends on 3 factors:1. You must be able to construct (or communicate to the

application) an accurate 3D model using a 3D model space.

2. The points you obtain must be accurate projections of 3D points of the model.

3. The 2D points you obtain from the calibrated images must be correctly corresponded to the 3D model points.

23/4/22TEL ： 021-33821033 / 33821031 / 33820483 / 50302319 FAX ： 021-33821032


23/4/22

Ximing Vision

Vision ExpertObtaining Accurate 2D Model Points

• The most effective technique for obtaining 2D model points for an accurate 3D alignment is to use vision tools.– Use CogFindLineTool to locate edges whose lines extend to known

coordinate points of intersection.

– Use CogIntersectLineLine to generate accurate 2D point information.

23/4/22TEL ： 021-33821033 / 33821031 / 33820483 / 50302319 FAX ： 021-33821032


Ximing Vision

Vision ExpertRecommended Parts and Features

• In general, rounded features are not the best candidates for accurate 2D points.

• Rounded edge features in 2D do not consistently correspond to 3D edges as parts rotate.

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Ximing Vision


• Sharp corners and creased edges in 2D correspond more consistently to 3D features as parts rotate in the FOV.

• Using line intersect tools is recommended for these types of features.

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Ximing Vision

Vision ExpertLocating Features on Flat

Surfaces• Even when locating features on a planar

surface, you can employ linear tools to get the most accurate correspondence between 2D and 3D features.

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Ximing Vision


• Circular features on a planar surface offer a distinct advantage due to their geometric properties.

• A circle can single-handedly be used to represent a 3D plane.

• As the circle rotates it can communicate 2D and 3D information based on its appearance to each camera.

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Ximing Vision

Vision Expert2D Pattern Alignment Tool Considerations

• Planar features may sometimes be used to find corresponding 2D features in 3D space.

• However, 2D pattern alignment tools like PMAlign and SearchMax have limited tolerance for pattern deformation so use with caution as accuracy can be compromised.

Ximing Vision

Vision ExpertObject Pose Estimation

Ximing Vision

Vision Expert3D Accuracy

Accuracy can be influenced by many factors:

Calibration accuracy (robot accuracy, accuracy of calibration plate and ist positions).

Camera baseline width.

Number of cameras.

Accuracy of 2D tools.

Accuracy of reference points (e.g. sharp or rounded corners)

Image resolution

Ximing Vision

Vision ExpertSummary

VisionPro-3D

…computes 3D information from 2D and vice versa.

…can determine the 3D pose of an object.

…can be used in many robotic applications.

…can be used with various camera configurations.

…provides powerful and yet easy to use calibration procedure.

…consumes input data from familiar 2D vision tools.

Ximing Vision

Vision Expert

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VisionPro3D APPlication

Ximing Vision

Vision Expert

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Ximing Vision

Vision Expert

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Ximing Vision

Vision Expert

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Ximing Vision

Vision Expert

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Ximing Vision

Vision Expert

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Ximing Vision

Vision Expert

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Ximing Vision

Vision Expert

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3D Displacement Sensor – DS1100

Ximing Vision

Vision Expert3D Displacement Sensor - DS1100

• Sensor designed to inspect and measure in 3D – Height, Volume, Tilt, shape, OCR

• Calibrated 3D inspection – Factory calibrated– Real world measurements in mm

• Contrast independent Inspection– Dark objects on dark background– Independent of color

23/4/22TEL ： 021-33821033 / 33821031 / 33820483 / 50302319 FAX ： 021-33821032


Ximing Vision

Vision ExpertDS1100 Package

• DS1100 hardware and VisionPro software• VisionProMax with DS1100 3D Tools

• Required Accessories• IP65 Ethernet Cable• IP65 Power & IO Cable

• Optional Accessories• Right angle mounting bracket• IP69K Stainless steel enclosure

DS1100

VisionPro

VisionPro

+

23/4/22TEL ： 021-33821033 / 33821031 / 33820483 / 50302319 FAX ： 021-33821032


Ximing Vision

Vision ExpertWhat is the DS 1100 ™?

– Sensor designed to inspect and measure in 3D

– Calibrated 3D inspection – Factory calibrated– Real world measurements in mm– Contrast independent Inspection– Low contrast inspection– Independent of color

23/4/22TEL ： 021-33821033 / 33821031 / 33820483 / 50302319 FAX ： 021-33821032


Ximing Vision

Vision ExpertHow does it work?

Laser Line

Projector 2D

CMOS Sensor

Object

z axis

y axis - direction of travel

x axis(1024 pixels)

Imaging Lens

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Ximing Vision

Vision ExpertWhat does the DS 1100 do?

– Generates a 16bit 3D range image

0 65,535

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Ximing Vision

Vision ExpertRange images

– The grayscale intensity represents the mm height value

0 0 0 0 0 0 3 5 7 9 11 13 15 15 15 15 15 13 11 9 7 5 3 0 0 0 0 0 0

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Ximing Vision

Vision ExpertIntensity slices

– With each encoder tick as the camera or part moves past the DS 1100 an intensity slice is taken and transformed into the range image

– Each acquired intensity image of a laser stripe is the basis of a single row in the range image.

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Ximing Vision

Vision ExpertDS 1100™ Hardware

24VDC PowerIO + Encoder

Camera658nm Laser

Class 2M

GigE Connector

Status LEDs

IP65 Enclosure

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Ximing Vision

Vision ExpertResolution

Max

imu

m d

ista

nce

31

5mm

Max

ob

ject

h

eig

ht

170

mm

60mm58µm / pixel

132mm137µm / pixel

Near

Far

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Ximing Vision

Vision ExpertPractical impact of a calibrated system

Highest Scan Speed

Highest X-Resolutio

n

Best Z-Accuracy

60mm58µm / pixel

132mm137µm / pixel

23/4/22TEL ： 021-33821033 / 33821031 / 33820483 / 50302319 FAX ： 021-33821032


Ximing Vision

Vision ExpertAccuracy and Profile Rate

Profile Rate 250 Hz – 4.5 kHz Resolution X Axis

1024 pixels92um Absolute Accuracy

40um Local Z Accuracy

5um Repeatability

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Ximing Vision

Vision ExpertHigh Precision measurements

X = 70µm Z = 7µm

X = 110µm Z = 20µm

X = 150µm Z = 40µm

X and Z Precision

Note: Z precision is 1/16th of a pel X precision is 1 pel

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Ximing Vision

Vision ExpertAdvanced 3D Toolset

• Height, Volume, Plane fitting, Plane to Plane Angle

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Ximing Vision

Vision ExpertDS1100 3D Viewer

• View your parts in 3D• Detailed 3D features• Pan, Zoom, Tilt• View multiple images from database

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Ximing Vision

Vision ExpertAdvanced 2D Toolset

• PatMax™, ID Max™, OCR Max™

• Applications requiring both 2D and 3D cameras

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Ximing Vision

Vision ExpertField of View and Working Range

120mm

175mm

295mm

60mm

132mm1024 Profile Points

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Ximing Vision

Vision Expert

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High Precisionp measurements

X = 70µm

X = 150µm

X = 110µm

Z = 7µm

Z = 20µm

Z = 40µmNote: Z precision is 1/16th of a pel X precision is 1 pel

X and Z Precision

Ximing Vision

Vision Expert

67 | Confidential © 2012 Cognex Corporation

High Precision measurements

X = 70µm

X = 150µm

X = 110µm

Z = 7µm

Z = 20µm

Z = 40µmNote: Z precision is 1/16th of a pel X precision is 1 pel

X and Z Precision

23/4/22TEL ： 021-33821033 / 33821031 / 33820483 / 50302319 FAX ：021-33821032Add ： Plat D, Floor 27, No.58, Xin Jin Qiao Road, Pudong, Shanghai ShangHai Ximing-Vision Tech

Ximing Vision

Vision ExpertDS1100 Applications

• Automotive– OCR– Glue & grease measurement– Gap measurement– Robot guidance

• Food & Beverage– Presence/absence– Portioning (volume & dimensions)– Cap height & skew

• Electronics– Substrates in carriers– Carrier & PC board flatness

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Ximing Vision

Vision Expert

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3D Inspections

Ximing Vision

Vision Expert

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Calibrated 3D Measurements

Ximing Vision

Vision Expert

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Contrast Independent Inspection

Ximing Vision

Vision Expert

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ximing vision vision expert 2015-12-11 tel ： 021-33821033 / 33821031 / 33820483 / 50302319 fax ：...

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