Besleme Sistemlerinde VGR (Vision Guided Robotic) görüntü işleme çözümlerinin kullanımı

Besleme Sistemlerinde VGR

Robot ile hedeflenen konuma daha doğru hareket etmesi için bir veya daha fazla kamerayla donatılmış robotlar, görüntü işleme destekli (VGR) robot olarak adlandırılır.

VGR sistemleri geliştirilmeden önce, kamera sistemlerinden alınan koordinat bilgisi robot kontrol ünitesine gönderilir ve robot belirlenen koordinatın yörüngesini hesaplayarak giderdi. Ancak bu sistemlerde kamera  ve robot kendi içinde 2 farklı kalibrasyona ihtiyaç duyarken; her iki kalibrasyon noktalarının birbiri ile örtüşmesi gerekirdi.

Şekil 1

VGR sistemlerinde, kameradan alınan koordinat bilgisi bilgisayar tarafından yörüngesi hesaplanır ve robot bilgisayar kontrolünde hareket eder. Tek kalibrasyon bilgisayar üzerinde otomatik olarak yapılır. Bu kalibrasyon bir noktadan yönetildiği için daha kolay ve daha kısa sürede tamamlanır.
(Şekil 1)

VGR görüntü işleme sistemi, robotların son derece uyarlanabilir olmasını ve daha kolay uygulanmasını sağlarken, malzeme taşıma, otomatik montaj, daha önce robotik hücrelerin tasarımı ve kurulumuyla ilişkilendirilen maliyetini ve karmaşıklığını önemli ölçüde azaltarak üretim süreçlerini hızlandırır.

Endüstriyel üretim için kullanılan VGR örneğinde, görüntü sistemi (kamera ve yazılım) rastgele beslenen ürünlerin konveyör üzerindeki konumunu belirler. Görüntü sistemi, kameranın görüş alanının altına rastgele yayılan ürünlerin robota tam konum koordinatlarını sağlar ve robot kolunun/kollarının takılı tutucu seçilen ürünü seçmesi için konumlandırmasını sağlar. Konveyör, parçanın konumunun belirlenmesi için kameranın altında durdurabilir veya çevrim süresi yetersizse, enkoder kullanarak konveyörü durdurmadan ürünü seçmek mümkündür.  

VGR sistemleri manuel müdahaleyi azaltır. Güvenliği ve kaliteyi artırır. Aynı zamanda üretkenlik oranlarını yükselterek ekonomik açıdan avantajlı olduğunu kanıtlayan, hızla büyüyen ve gelişen bir teknolojidir.

VGR Görüntü işleme sistemleri montaj opsiyonları

Şekil 2

Görüntü işleme sistemleri sabit montajlı kamera sistemleri ve robot kola monte kamera sistemleri olarak iki kategoriye ayrılır.

 Sabit kamera sistemi, tüm robot hücre alanını gözlemleyebileceği bir yapı üzerine monte edilir. Bu yaklaşımın avantajı, hücre içindeki tüm aktiviteler için sabit bir referans noktası sağlayarak konumunu  bilmemizi sağlar.

Robot kola monte kamera sistemleri ise daha küçük bir görüş alanına sahiptir. Tüm çalışma hücresini bir kısmını görüntülediği için robot konumuyla senkron olarak ürünün konumunu belirler. (Şekil2)

2D VGR Kamera sistemleri

Şekil 3

Kamera seçimi, konumlandırılacak ürünlerin kavrama yönüne ve robotun alma bölgesindeki duruş pozisyon değişimine göre belirlenir. 

2D VGR kamera sistemlerinden elde edilen görüntü, iki boyutlu bir plan görünümüdür. 2D görüntüde X ve Y eksen verileri bulunurken, Z ekseni ile elde edilen alan derinliği bilgisi bulunmamaktadır. 2D kamera sistemleri, yüksek oranda tekrarlanabilir parça ve konum içeren daha basit uygulamalar için ideal çözümdür. EYEFEEDER® esnek sallama sistemini çözüme ekleyerek, 2D VGR kamera sistemlerini daha etkin hale getirebilmek mümkündür. Bu çözüm, görüntü işleme sisteminin algılama alanındaki ürünleri yaymasını ve döndürmesini sağlar.Böylece ikinci bir düzenleyiciye gerek duymadan robot koluna takılı tutucu, ürünleri diğer ürünlere temas etmeden alabilir.  (Şekil 3)

VGR çözümlerimizle ilgili daha fazla bilgi almak isterseniz aşağıdaki formu doldurarak bizimle iletişime geçebilirsiniz.

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