SmartSight
User guide
Document
SMARTSIGHT_User_Guide_EN
000.100.533
Version
C2
Date
05.08.2019
Page 1: ...SmartSight User guide Document SMARTSIGHT_User_Guide_EN 000 100 533 Version C2 Date 05 08 2019 ...
Page 2: ...tion of the Asycube platform and reservoir 21 4 1 2 Configuring the vibration process 21 4 1 3 Configuring the process for two components and two hoppers 24 4 2 CONFIGURATION OF THE VISION SYSTEM 26 4 2 1 Selection of the vision analysis type 26 4 2 2 Configuring the illumination parameters 27 4 3 PROGRAMMING THE VISION MODEL 30 5 PROGRAMMING THE VISION MODEL 31 5 1 OVERVIEW 31 5 1 1 Tips and shor...
Page 3: ...LUSION ZONE DEFINITION 51 5 4 1 Empty Picking Zone Growing EPZG 52 5 4 2 Empty Picking Zone Region EPZR 54 5 5 LOCATION RESULTS 59 5 6 FEEDING INFORMATION 60 6 END OF PROGRAMMING 61 6 1 CLOSING THE ASYVIEW TEACHING WINDOW 61 6 2 TESTING THE VISION MODEL 62 6 3 PERMANENTLY SAVING THE VISION MODEL 63 7 SAVING IMAGES 65 8 TECHNICAL SUPPORT 66 8 1 TO HELP US PROVIDE THE BEST SERVICE 66 8 2 CONTACT 66 ...
Page 4: ... This instruction identifies an electrical hazard Failure to respect this instruction may result in electrocution or serious physical injury due to an electric shock IMPORTANT Failure to respect this instruction may result in serious damage to equipment NOTE The reader s attention is drawn to this point in order to ensure that the product is used correctly However failure to respect this instructi...
Page 5: ... Operating manual SMARTSIGHT_Operating_Manual_EN Contains a technical description of the product and its functionalities together with instructions for its transportation and maintenance Programming guide SMARTSIGHT_Programming_Guide_EN Contains information about communication and use of the product at the programming level User guide SMARTSIGHT_User_Guide_EN THIS MANUAL HMI Manual Directly access...
Page 6: ...ube calibration Process calibration Fixed configurations but it is possible to define them as often as necessary as this is only a software configuration Each vision model will simply use one of these image configurations as required Recipes Vibration set Vibration process Vision models Image acquisition parameters Variable configuration that can be saved and reloaded as required For each model co...
Page 7: ...l parts or models Note that everything defined in the image configuration is closely related to the camera setting and therefore to its field of view and resolution see A in the image below 2 1 1 1 The parameters of an image configuration 2 1 A Figure 2 1 Parameters of the image configuration 1 Image region Defines which part of the image is used to look for parts an area of the image in pixels In...
Page 8: ...querboard squares in mm and the number of pixels in these squares This plate can also be used to correct distortions associated with the optical system This calibration is not mandatory but if used it is important to understand that this calibration must be performed in the same plane as that in which the parts will be detected and not that in which they will be placed There are two reasons for th...
Page 9: ... not carried out in the correct plane size and position This can be considered negligible when the height of the part is small but becomes problematic if the height of the part is large or if the application requires a high degree of accuracy Calibration should therefore ideally be carried out at the height of the blue plane and not of the green plane 2 The feeder calibration is used to transform ...
Page 10: ...ble to convert the coordinate system of the camera in pixels or in mm if the pixel mm calibration has been performed into the coordinate system of the process This is essential in ensuring that the coordinates sent to the process allow it to come and pick up the part at the right position The angle to be sent can be that of the vision coordinate system or that of the process i e taking into accoun...
Page 11: ...eder calibration Process calibration Field of view x x 1 x x Region x 1 x 2 x Linked element x Pixel mm calibration x 2 x 1 Only if the pixel mm calibration is used 2 The feeder calibration is automatically performed when pixel mm calibration is carried out However pixel mm decalibration requires feeder calibration to be performed again manually The inseparable links described above mean that all ...
Page 12: ...age region you want to use usually the whole image and the camera related element s usually an Asycube Once it has been created perform the calibrations for this image configuration look out for high parts in order to properly calibrate at the viewing plane and not at the platform plane Then program your model s using the created image configuration If the model has already been created and you ha...
Page 13: ...tecture of connected and pre configured peripherals 2 Access to display of all the cameras for monitoring purposes 3 Access to the configuration steps The figure below Error Reference source not found describes the parameters to be adjusted and the main procedure to be applied after installation of the Asycube and the viewing devices on the machine IMPORTANT These parameters must be set at the beg...
Page 14: ... 100 533 14 68 Figure 3 2 Simplified description of the different tasks to perform when implementing a new SmartSight configuration See the HMI manual via the interface for detailed information on these functionalities Live image image configuration calibration ...
Page 15: ...mm Finally by carrying out this calibration the Feeder calibration will be performed at the same time thanks to the two rectangles in the centre of the plate If you do not want to use this calibration then skip to the next step To perform pixel mm calibration a calibration plate is required sold by Asyril or Cognex Once the calibration plate is mounted on your Asycube go to the calibration tab of ...
Page 16: ...ectly Step 4 Click on the Calibrate button Once calibration is complete the calibration result changes to calibrated IMPORTANT As shown earlier in this document it is important to calibrate close to the height at which the parts will be seen by the vision system and not systematically on the platform surface To do this use the platform raising kits to adjust the calibration height ...
Page 17: ... camera This will allow AsyView to perform the feeder calibration Figure 3 4 Feeder calibration Step 1 Select feeder calibration Step 2 Click on the double arrow to define which side the hopper is on in the image taken by the camera This affects the values in the correspondence table Step 3 If required for special configurations enter the values in the table Step 4 Click on the Calibrate button St...
Page 18: ...atform The HMI process calibration tab then allows you to run the model and choose from among the positions found those which will be used for calibration the outermost positions of the work surface if possible As regards the positions of the process coordinate system robot handling arm etc the robot specialist defines the optimal method of obtaining the positions of the 4 holes in the process coo...
Page 19: ...ling arm in the image above dummy values of 30 and 40 have been entered Step 6 If necessary choose the source of the value of the angle you wish to receive either the one returned in the coordinate system of the process robot handling arm etc or that of the vision coordinate system the process calibration is therefore not applied to the angle A constant value can be chosen if a constant angle is n...
Page 20: ...o the application A recipe is identified by the vrec file extension and contains all the data needed to configure the complete vision and feeding system The following sections contain a tutorial type description of the configuration of a new recipe However the information contained in this section also applies to modification of an existing recipe The various steps described in this chapter are sh...
Page 21: ...the selected vibration if required Otherwise manually adjust the actuators to achieve the required behaviour Step 4 Adjust the amplitude parameters and select a frequency which ensures your parts move in the right direction Important Not all of the frequencies available will necessarily produce good results for all part geometries Step 5 Test the settings made If the settings are not satisfactory ...
Page 22: ...it to prevent the parts from moving when an image is being taken Step 5 If required activate the platform hopper synchronisation option see 4 1 2 1 Step 6 Use the simulator to monitor the process Figure 4 2 Defining the vibration sequences It is possible to set the system to adapt the vibration duration depending on the number of parts on the platform by selecting the Quantity Adjusted option as t...
Page 23: ...tom vibration with one of the vibrations C to Z as defined Platform Forward A Platform Forward left B Platform Forward right C Platform Left D Platform Right E Platform Backward F Platform Backward left G Platform Backward right H Platform Flip I Platform Short axis centering J Only for Asycube 240 380 and 530 Platform Long axis centering K Only for Asycube 240 380 and 530 Platform Custom L Z Exec...
Page 24: ...uration of the hopper vibration to enable the platform to be filled with the number of parts required on the platform 100 parts in the example shown above Let s take an example Number of parts required on the platform 100 Required distribution between the parts 50 A parts and 50 B parts Vibration duration to feed 100 A parts 2000 ms Vibration duration to feed 100 B parts 1000 ms If the platform co...
Page 25: ... requires twice as many A parts as B parts in other words a distribution of approximately 66 A parts to 33 B parts simply set the vibration durations out of balance Let s return to the previous example To feed 66 A parts onto the platform when starting from zero vibrations should be last T 2000 100 66 1320 ms and to feed 33 B parts vibrations should last T 1000 100 33 330 ms To take into account t...
Page 26: ...lick on the edit button pencil This will open the teaching window Step 4c To delete the selected model click on the x button NOTE When opening teaching creation or modification the AsyView status will change to teaching in the banner screen Wait until the status has actually changed to teaching before moving onto the next step The teaching window will be open at this stage Figure 4 4 Starting the ...
Page 27: ...e model To detect correctly oriented components Definition of the picking point It is possible to perform a second detection to differentiate the components It is possible to perform the detection s on different images 3B Exclusion zone To avoid collisions during picking The size and shape of the exclusion zone can be adjusted according to the gripper 4 Feeding information To determine the number ...
Page 28: ...imum time between two image acquisitions o intensity of back lighting 0 or 100 o intensity of front lighting 0 to 100 Figure 4 8 Definition of exposure time and duration of illumination The illumination time must be longer than the exposure time In order to ensure that the lighting DOAL or back lighting is at full power when the photo is taken it is necessary to delay the image acquisition by usin...
Page 29: ...and illumination sequence The displayed image is available by clicking on the corresponding duration setting or by using the arrows and the selector in the image management area IMPORTANT NOTE 1 In the location process on an Asycube The first timeset and therefore the first image acquired is always used for the Pre localization operation This acquisition is done with back lighting in 99 of cases I...
Page 30: ...the HMI is active on the same PC as AsyView See section Error Reference source not found Error Reference source not found for information on the different parameters and options available in the teaching window IMPORTANT NOTE Click on the Run button at the top left to run image acquisition and full analysis of the model This action must be performed at least once when programming a new recipe to a...
Page 31: ...rts for example when it is necessary to detect different parts as valid parts In this case the system adds the results of each detection and ensures that the same position is not detected twice only with a Pre localization C 3rd level of tabs The content of these tabs will be described in the following sections D Buttons associated with the 3rd level of tabs The main buttons used include Run the t...
Page 32: ...be imported from a previously configured tool or exported to a specified target o Note that this function is only available in the model being configured Image selection o Allows you to select the image to use for each tool in the model o Note that Pre localization is always applied to the first image usually with back lighting on The Run button at the top left acquires the image and runs a full a...
Page 33: ...l 01 Model Settings Step 1 Choose Hard Threshold fixed Step 2 Choose the polarity of your parts black on white background or vice versa Step 3 a In the image selector choose Current Histogram b Depending on the histogram change the threshold value for the number of pixels according to the grey level as shown in Error Reference source not found Step 4 Click on the button to run the tool and observe...
Page 34: ...ssible to reduce the surface area for the zone in which you want to find components Step 5 Click on the Region tab to display the screen below Step 6 Select cog rectangle to draw a rectangle or extend the search to the entire image by selecting None Use Entire Image Figure 5 4 Pre localization tool 01 Model Region ...
Page 35: ...ls therefore choose a fairly wide variation range e g 10 to 10 000 We will narrow this variation range later Step 9 Configure the Connectivity property Choose Filter as the measurement type and Exclude as the value range IMPORTANT NOTE The value range must be set to include 0 0 if you want to detect the hole in a part The value range must be set to include 1 1 if you want to detect the external co...
Page 36: ...ermine the smallest and largest surface area for which one and only one component is found as shown in the figure below NOTE When you select a line in the table the corresponding blob is displayed in blue in the LastRun image and vice versa Figure 5 7 Definition of the acceptable surface area range Step 15 Return to the Measurement tab Step 16 Modify the acceptable surface area range based on the ...
Page 37: ...533 37 68 Check that all the blobs surround one part only If not adjust the surface area again Figure 5 8 Pre localization tool 01 Model Measurements NOTE It may also be necessary to adjust the threshold value by changing the value selected in step 3 Blob not detected OK ...
Page 38: ...e to unlock the fields and choose different values for each direction NOTE The initial bounding box is defined as the smallest rectangle able to contain the entire blob Figure 5 10 Defining the Blobs and Bounding Box Step 19 Check that your extended bounding box contains the entire surface area of the part Step 20 In the Mode setting Oriented means that the bounding box is oriented parallel to the...
Page 39: ...on as the first positive result is found it is sent to the next tool It is therefore very efficient Disabling or deleting Pre localization has the effect of using the model finder to search for all candidates within the whole image and in all orientations if necessary This is therefore very complicated and takes longer as no results are sent to the next tool until the whole model finder analysis i...
Page 40: ...tion between front and back and precise location on the 1st or 2nd image Geometrical feature detection control Two successive geometrical searches possibly on different images one for location the other for front back differentiation Parts where the front and back detail do not allow accurate location Parts where the front and back detail is not in the same position on all the parts Geometrical fe...
Page 41: ...osition The picking angle must be defined in the tool By default it corresponds to the result of the detection and it is directly specified in the geometric model However the precise location and differentiation of the front and back of the parts may be carried out on different images Therefore the result of the positioning picking angle is also programmable according to the specific requirement a...
Page 42: ...n the Train parameters tab to display the screen below Figure 5 12 Model Finder tool 01 Detection Model Train Params Step 1 Choose the patMax PatQuick algorithm Step 2 Click on Grab Train Image Step 3 Choose Current TrainImage in the image selector Step 4 Click on the Train Region and Origins tab to display the screen below Figure 5 13 Model Finder tool 01 Detection Model Train Region Origins ...
Page 43: ...ill be sent to the robot as the picking position Step 8 When the model has been programmed click on the train button in the train param tab The image of the model programmed is displayed in the window that was initially blue Figure 5 14 programming the model Step 9 Click on the Run Params tab to display the screen below Step 10 Modify the parameters as follows a Algorithm Best trained b Mode Searc...
Page 44: ... button to run the tool Step 12 Select the Detection Advanced tab and LastRun InputImage ModelFinder in the image selector and check that the parts you have identified as correct are accepted and the others rejected If this is not the case change the threshold value according to the score of incorrect parts displayed in the Detection Advanced table of results ...
Page 45: ...e filter Ticked Enabled filters the results according to this score only if this value is higher than the score defined in the Detection Model Run Params parameters Unticked Disabled sorts the results according to the score defined in the Detection Model Run Params parameters step 10 Angle filter Ticked Enabled filters the results according to these angles only if these angles are more restrictive...
Page 46: ... Finder tool 01 ControlSettings Step 16 Click on the ControlSettings tab to display the screen below Step 17 Select the detection result you want to define as the reference Choose the part you want as a model ID Click SET the system loads the programmed model copies the corresponding region and focuses on the model so that you then need only click on the Train button NOTE With the Geometrical Feat...
Page 47: ...om an incorrect part front back for example and not the whole part The train region zone must be adapted to the detail to be detected 5 3 6 2 Geometrical feature detection surface check Figure 5 18 Model Finder tool 01 Control Model in the case of a Surface Control IMPORTANT NOTE It is essential to have first selected the reference part and activated the SET button in the Control Settings before a...
Page 48: ...hm if necessary Step 21 Click on the button to run the tool 5 3 7 Configuring the tool Control Advanced tab NOTE This tab is not available with the Geometrical Feature Detection option Step 22 This step is similar to the Detection Advanced tab see Error Reference source not found except that the Rotation option is only available if the picking position is the result of the Control procedure and no...
Page 49: ...m an incorrect part In this tab we are going to test this model on each of the candidates selected by the Pre localization tool Figure 5 19 Model Finder tool schematic algorithm The candidates found by the Pre localization tool are displayed in the Inputs tab of the tool in which we are currently working the model finder This data can also be checked visually by choosing CurrentInput Image from th...
Page 50: ...ol and obtain the results this may take some time Then click on the Output tab to display the list of results Step 25 Select the relevant image in the image selector and check that the parts you have defined as correct are accepted and the others are rejected Otherwise modify the values in the different models The colour codes on the bottom of the window indicate the number of parts having success...
Page 51: ...ing each other Very quick for delimiting a few pixels but time consuming for larger borders Can be combined with the EPZR EPZR Empty Picking Zone Region Definition of a geometric area centred on the picking point of the parts The external shape of the exclusion zone can be defined according to the geometry of the gripper tip for example Different options to optimise the exclusion zone according to...
Page 52: ... which a narrow border is sufficient Step 0 Click on Empty Picking Zone and on Growing to add an EPZG Step 1 The EPZG tool is configured in a very similar way to the Pre localization tool So to avoid performing the same step a second time the first step is to simply copy the Pre localization tool exactly by right clicking on the 01 Growing tab see Error Reference source not found Click on the butt...
Page 53: ... Copyright Asyril S A Programming the vision model Version C2 000 100 533 53 68 Figure 5 24 Empty Picking Zone Growing tab ...
Page 54: ... 2 defined shapes interior and exterior Very fast Only available for circular or elliptical annulus Detected region to boundary default Detected region to boundary Search inside the zone between the model detection region and a defined external shape For simple geometries For parts of variable size Note The detection region must be as close as possible to the contour of the part Part contour to bo...
Page 55: ... on Region to add an EPZR Step 1 Add a model by clicking on the button The configuration of the exclusion model is broadly similar to the Pre localization tool So to avoid performing the same step a second time the first step is to simply copy the Pre localization tool exactly by right clicking on the 01 Region tab Click on the button to run the tool Step 2 Select the type of EPZR to use see descr...
Page 56: ...of annular zone Step 3 Select the Boundary tab to set the size shape and offset of the external line Step 4 Select the part ID that can be used as the reference to define the boundary Step 5 Select the geometry size and offset The shape is drawn around the selected part on the image NOTE When the annular zone type is selected the internal and external shapes are defined at this point Error Referen...
Page 57: ... detected exclusion criteria Step 7 Select the Settings tab Step 8 Select the threshold or copy the Pre localization tool to the Exclusion Model by right clicking on the 01 tab Step 9 The Min Area value defines the minimum size of any element to be detected Normally it can be left as the default value 10 but can be adjusted for example in case of a non uniform background Step 10 Select the Measure...
Page 58: ...sults tab Step 13 Click on to run the tool and obtain the results this may take some time Choose LastRun OutputImage in the image selector Check that the accepted parts are Oriented in the right direction accepted by Model Finder Sufficiently distant from all the other parts because validated by the EPZR If not modify the values programmed in the previous steps ...
Page 59: ... indicators at the bottom Numbers of parts accepted or rejected as the case may be Percentages of parts accepted or rejected Analysis times overall and for each tool approximate NOTE Hover the mouse over an indicator to display its description NOTE The time shown does not represent a guaranteed time because it is calculated as part of the configuration interface and depends on the performance of t...
Page 60: ...to 8 Step 3 For Asycubes 240 and 530 select the hopper that contains the part defined in the model NOTES The objective is to estimate the number of parts on the platform irrespective of their front back orientation In general the backlit image should be used for this purpose to aid detection If necessary it is also possible to apply several tools to obtain a better estimate of the number of parts ...
Page 61: ...NOTE The AsyView status changes to Configuration Idle in the presentation screen yellow LED Wait for the change to take effect LED changes to green again before proceeding to the next step IMPORTANT Clicking on the apply button does NOT save the vision model you can then test the changes but they will be lost if the software is deactivated For more information about permanently saving a recipe ref...
Page 62: ...els Step 6 Select the results for a particular model Step 7 Check that the correctly oriented parts are accepted and the others are rejected for the selected model Figure 6 2 Vision Home Testing the vision model Step 8 Perform a few vibrations on the Asycube using the shortcut at the top of the HMI and repeat steps 5 6 and 7 If the results obtained are satisfactory you can save the recipe as shown...
Page 63: ...he cameras and feeder systems according to the configuration Step 4a If the description of the recipe is no longer displayed click on the select button magnifying glass to select your recipe then click on open folder Step 4 Click on the save as button floppy disc to save a new recipe To save the vision model only navigate to the vision folder Figure 6 4 Saving a vision recipe only You can then sav...
Page 64: ...el name box NOTE Ensure that you give your recipe a detailed name in order to be able to find it easily IN CASE OF Asyfeed Pocket CELL or MODULE The complete recipe rec should be saved in that case including the ARL process and its parameters See Asyril_MODULE_ASYFEED_User_Guide_EN for information on the structure and parameters of the recipe rec ...
Page 65: ...s in BMP format to reuse the images for analysis with vision tools Less bulky JPEG images with markers on detected parts to show what has been found or not In all cases the folder for saving can be specified even if a default folder is automatically selected D Asyril ImageDataBase IMPORTANT To avoid filling the SSD disk of the PC a limit of 1000 JPEG images and 100 BMP images is set When either of...
Page 66: ...wn the following information concerning your product Serial number and product key for your equipment Software version s used Error message alarm or visual signals displayed by the interface 8 2 Contact You can find extensive information on our website www asyril com You can also contact our Customer Service department http www asyril com en asyril support en html ...
Page 67: ...ious modifications made since the initial version B 21 04 2015 DaM Updated version for the AsyView V3 B1 22 06 2015 DaM Structure modified and references added to XFEED Process doc B2 25 08 2016 DaM Updated product names and documentation C 21 02 2018 HsJ Update relating to new version AsyView v4 C1 29 03 2018 HsJ Update for the new PC model C2 17 07 2019 CoG Update for AsyView 4 2 0 HMI rc8 0v2 7...
Page 68: ...Asyril SA it may not be reproduced modified or communicated in whole or in part without our prior written authorisation For the purposes of product improvement Asyril SA reserves the right to modify any information contained in this document without prior notice asyril sa Z I le Vivier 22 ch 1690 villaz st pierre Switzerland Tel 41 26 653 71 90 fax 41 26 653 71 91 info asyril com www asyril com ...
