tailieunhanh - Robot Vision 2011 Part 13

Tham khảo tài liệu 'robot vision 2011 part 13', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 472 Robot Vision 6. Experimental Results for Signature Analysis The reported research was directed towards integrating a set of efficient high-speed vision tools Windows Region of Interest WROI point- line- and arc finders and linear and circular rulers into an algorithm of interactive signature analysis of classes of mechanical parts tracked by robots in a flexible production line. To check the geometry and identify parts using the signature you must follow the steps 1. Train an object The object must represent very well its class - it must be perfect . The object is placed in the plane of view and then the program which computes the signature is executed the position and orientation of the object is changed and the procedure is repeated for a few times. The user must specify for the first sample the starting point the distances between each ruler and the length of each ruler. For the example in Fig. 15 of a linear offset signature one can see that the distances between rulers measurements are user definable. Fig. 15 The linear offset signature of a lathe-turned shape If we want to compute a polar signature the user must specify the starting point and the angle between each measure. During the training session the user can mark some edges linear or circular of particular interest that will be further searched and analysed in the recognition phase. For example if we want to verify if a linear edge is inclined at a certain angle with respect to the part s Minimal Inertia Axis MIA the start and the end point of this edge will be marked with the mouse of the IBM PC terminal of the robot-vision system. In a similar way if a circular edge must be selected we will mark the start point the end point and a third point on that arc-shaped edge. The program computes one type of signature according to the object s class. The class is automatically defined by the program from the numerical values of a computed set of Remote Robot Vision Control of a Flexible Manufacturing Cell