TSVision3D software Solution
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Introduction to Robot Image Recognition Software Robot Engineering Department, Control Division, TOSHIBA MACHINE CO., LTD. 1

TOSHIBA MACHINE Best Partner of Leading Industries 3D Image Recognition Software TSVision3D Software package that facilitates use of high-end 3D image recognition technology. Strong support of “automated bin picking” using robot and 3D image recognition ■ Easy setup ■ Easy model registration: 3D-CAD data not required! ■ Easy calibration and box detection function (Box size and height are automatically detected.) ■ Error prevention ■ “Box interference avoidance function” that prevents interference with box ■ Arm motion reach check function ■ Improved recognition rate ■ Multiple-model...

TOSHIBA MACHINE Best Partner of Leading Industries Robot Image Recognition Software

System Configuration Robot control Stereo vision system 3D image acquisition Lens distortion correction Calibrated camera Disparity calculation (height information) Initial setting Coordinate system calibration Filtering Box interference & motion reach check Data transmission Picking operation Model registration Model registration Model search Stereovision system LED light Model search Stereo camera GigE GigE robot program for Picking Robot controller Recommended PC spec PC contains Windows7 32/64bit, Intel Corei5equivalent CPU, and 4.00 GB RAM Multilanguage Japanese, English, Chinese and...

Industrial High-speed Stereo Camera Stereo camera capable of high-speed 3D measurement  Stereo camera capable of that enables real-time 3D measurement Capturing, image processing and parallax operation are performed inside the camera.  Continuous high-speed 3D measurement is possible  30 fps (30 times per second) Normal image High-speed stereo camera Camera 2 Parallax image Camera 1 Black  Low White  High  Stereo camera that is high-speed, highly accurate and easy to use  Accuracy (at measurement height of 1 m): 1 mm work pieces distance: 800 mm to 1200 mm Calibrated camera...

Improved object recognition accuracy based on random pattern projection system Object Under normal lighting, only outline shape can be acquired. (Surface information cannot be acquired.) An optimum random pattern is projected to acquire surface data of the object. Improved object position and orientation detection accuracy Blue random pattern radiation

TOSHIBA MACHINE Best Partner of Leading Industries Robot Image Recognition Software DESCRIPTION OF SOFTWARE FUNCTION

Description of Function Intuitive operation. Support of bin picking by robot Functional operation icon Parameter setting Operation in the order of icon Intuitive and easy to use! Detection result display

Easy Model Registration No CAD data required. Easy model registration A model is registered by enclosing a sample work piece Register banana as model with mouse. After capturing the sample work pieces multiple times in different positions and orientations, smooth composite model data is generated automatically. 9

TOSHIBA MACHINE Best Partner of Leading Industries Easy Model RegistrationModel mask function An unnecessary part is excluded from the model. The area to be inspected can be narrowed down to improve the recognition rate. (Same usability as 2D vision sensor)

Easy Model Registration No CAD data required. Easy model registration

TOSHIBA MACHINE Best Partner of Leading Industries Easy Model RegistrationModel mask function 12

TOSHIBA MACHINE Best Partner of Leading Industries Easy calibrationCamera and robot coordinate system calibration The position and orientation of the camera coordinate system in relation to the robot base coordinate system is automatically calculated just by capturing a sample work piece of previously-registered model multiple times in different positions and orientations while ^ ic holH hw Registered model work pieces Fix model work pieces to robot tip Camera coordinate system Automatic measurement Base coordinate system Robot position and attitude Detected imag position and attitude...

Easy Calibration Camera and robot coordinate system calibration

TOSHIBA MACHINE Best Partner of Leading Industries Box Interference Avoidance Function The positional relationship between the box opening and gripper during approach is calculated. Only work pieces that does not interfere with the box is picked. Surface information of box opening

Box Interference Avoidance Function Box position and height  Measured automatically with box enclosed by the mouse.

Multiple Picking Points An optimum picking point is selected.  Arm reach check  Box interference check If the above conditions are not satisfied, other candidate pick position is Automatically selected. Pick candidate position 1 Pick reference position Pick candidate position 2

TOSHIBA MACHINE Best Partner of Leading Industries Easy Model RegistrationMultiple models can be registered and detected. Parameters are also easily adjusted! TSViscnJD - [Metering Model bananaOl bananaOl Solution: ToiTrajoctOl Moticll nirjdjOl Mooel2 Mango Mmwi; r.,o«u c <jj- Modd2 ‘ Mood relettcn ModeU -Model 1 Shot capture image * r* Camera start Picking position Modd bananaOl Picking name Initial Point -79.000 RX -23.444 Robot communication Serve on % Start fta Reset mtpii ip Average time: 0.585 Image count Picking name Result Location: CVjMrc*nchhara.yasLnor>*Dca Calitrston: -133.029...

TOSHIBA MACHINE Best Partner of Leading Industries Multiple models can be concurrently detected

Future Efforts Easy to use software • Easier to use • Easy to use by any beginners Extended Scope of Application • Accommodation of irregular-size work pieces • Improvement of reflective work pieces recognition rate • Interface to connect with other maker’s

TOSHIBA MACHINE Best Partner of Leading Industries BEST SOLUTION Engineering Solution -> Semiconductor Manufacturing Equipment In closing, I thank you very much for your attention. 21