Le Librerie Di Labview Per La Visione Artificiale Ed Il Machine Vision - Imaginglab
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Vision for robotics in LabVIEW: from base concepts to application examples Ignazio E M Piacentini [email protected] www.imaginglab.it
Kuka Workshop, Rivoli, 20 May 2009
QuickTime™ and a decompressor are needed to see this picture.
Agenda
The NI product offer Basic concepts and requirements A 'platform' for vision-based robotics applications Generalising the application sw Few application examples Questions and answers
@Kuka, 20th May 2009
Vision for robotics in LabVIEW
2
QuickTime™ and a decompressor are needed to see this picture.
A long story: back in the early nineties …
Concept VI: a vision library for LabVIEW in the very early nineties (France) Acquired by NI Corporate in 1996 Development of a full line of Vision hw and sw products in NI
@Kuka, 20th May 2009
Vision for robotics in LabVIEW
3
QuickTime™ and a decompressor are needed to see this picture.
NI LabVIEW
Embedded (FPGA) Sensor
Graphical development environment PC-based systems to embedded real-time targets Integrated measurements, analysis, connectivity and control
Handheld Wireless Networked I/O Vision System
Reconfigurable Control I/O
Industrial Computer (PXI) PC Workstation
@Kuka, 20th May 2009
Vision for robotics in LabVIEW
4
QuickTime™ and a decompressor are needed to see this picture.
NI Vision Capabilities
@Kuka, 20th May 2009
Vision for robotics in LabVIEW
5
QuickTime™ and a decompressor are needed to see this picture.
NI Vision Platform NI Vision Develoment Module
NI Vision Builder for Automated Inspection
Programming tools for LabVIEW, LabWindows/CVI, and MS Visual Studio
Configure, benchmark, and deploy without programming
NI Vision Acquisition Software Acquire, save, and display images from 1000s of cameras
NI Smart Cameras
@Kuka, 20th May 2009
NI Compact Vision Systems
PXI-based Vision Systems
Vision for robotics in LabVIEW
PC-based Vision Systems
6
QuickTime™ and a decompressor are needed to see this picture.
NI Vision Development Module
Programming libraries for LabVIEW, (LabWindows/CVI, Microsoft Visual Studio)
Hundreds of image processing and machine vision functions Includes Vision Assistant
Prototypes and benchmarks your application Generates code for LabVIEW, Visual Basic, and C
Think, solve, prototype and then program!!
@Kuka, 20th May 2009
Vision for robotics in LabVIEW
7
QuickTime™ and a decompressor are needed to see this picture.
Vision Builder for Automated Inspection
Ease of Use Interactive, menu-driven vision application software Connect, configure & deploy to CVS and Smart Cameras
Fast Development 40+ powerful machine vision tools Advanced decision-making Branching and looping capabilities
Industrial Inspection Isolated digital and serial I/O Built-in industrial protocols Complete pass/fail management
@Kuka, 20th May 2009
Vision for robotics in LabVIEW
8
QuickTime™ and a decompressor are needed to see this picture.
NI Frame Grabbers
PCI, PCIe, and PXI boards Analog
Camera Link
Base, medium and full config
IEEE 1394 control adaptors
Standard and non-standard
IEEE 1394a and 1394b
GigE Vision interfaces
Optimized for NI software
@Kuka, 20th May 2009
Vision for robotics in LabVIEW
9
QuickTime™ and a decompressor are needed to see this picture.
NI Compact Vision System
Real-time, rugged & reliable Multiple 1394 cameras (up to 16) Industrial connectivity 29 Digital I/O lines (TTL & Isolated) ENET, RS232, VGA
Built-in 256MB flash, 1394 HD support User-defined I/O w/ LabVIEW FPGA Configure with Vision Builder AI, or Program with NI LabVIEW
@Kuka, 20th May 2009
Vision for robotics in LabVIEW
10
QuickTime™ and a decompressor are needed to see this picture.
The NI Smart Camera Family Multiple sensors, starting with • Monochrome VGA and SXGA CCDs Partial scan (½, ¼) and Binning
Direct Drive Lighting Control
Powerful processing
• Strobe generation (5V TTL, 24V) • Current lighting controller
• PowerPC 400/533 MHz • DSP 720MHz coprocessor
Dual Gigabit Ethernet • I/O extension • Debugging •Industrial communication
@Kuka, 20th May 2009
Industrial I/O • Opto isolated 2-in & 2-out • RS232 • Encoder support Vision for robotics in LabVIEW
11
QuickTime™ and a decompressor are needed to see this picture.
The vision platform: from Smart Cameras to multicore PC
The hardware selection is dictated by the application needs:
Conventional PC Industrial Panel PC PXI-based industrial PC (Win-based or RT OS) Compact Vision System (Real Time OS) Smart Camera (Real Time OS)
The software platform remains the same!! See Smart Cam videoclip
@Kuka, 20th May 2009
Vision for robotics in LabVIEW
12
QuickTime™ and a decompressor are needed to see this picture.
The NI Vision Difference High-performance and ease-of-use • High-level tools and low-level functions • Single API for all NI Vision hardware • LabVIEW and C code generation with Vision Assistant
@Kuka, 20th May 2009
Vision for robotics in LabVIEW
13
QuickTime™ and a decompressor are needed to see this picture.
The NI Vision Difference Open platform for interoperability and connectivity •
Camera Link – – – – –
•
•
NI PCIe-1429 (Full) NI PCIe-1430 (Dual Base) NI PCIe-1427 (Base) NI PCI/PXI-1428 (Base/Medium) NI PCI-1426 (Base)
–
•
NI PCI/PXI-8252 (1394.a) NI PCI-8254R (1394.a) NI PCIe-8255R (1394.a & 1394.b)
•
NI PCIe-8231
Analog – – – –
IEEE 1394 – – –
GigE Vision NI PCI-1410 (4-ch mono.) NI PXI-1409 (4-ch mono.) NI PCI/PXI-1411 (1-ch color/mono.) NI PCI-1405 (1-ch color/mono.)
Parallel Digital – –
NI PCI-1422 (RS422, LVDS) NI PCI-1424 (RS422, LVDS, TTL)
NI Vision Acquisition Software
@Kuka, 20th May 2009
Vision for robotics in LabVIEW
14
QuickTime™ and a decompressor are needed to see this picture.
The NI Vision Difference: scalability Scalable software / scalable hardware
From Smart Camera to PC (industrial or standard) Configurable or programmable sw Adapting hw and sw to the complexity of the solution
n Visio
AI r e d Buil
EW I V b or La
PC-Based Vision Systems
PXI Vision Systems
Compact Vision Systems
Smart Cameras
Smart Cameras @Kuka, 20th May 2009
Embedded Vision Systems Vision for robotics in LabVIEW
Size
PC-Based Vision Systems 15
QuickTime™ and a decompressor are needed to see this picture.
A quick demo in VBAI (Vision Builder for Automated Inspection) and just a glance at the Vision library in LabVIEW ….
@Kuka, 20th May 2009
Vision for robotics in LabVIEW
16
QuickTime™ and a decompressor are needed to see this picture.
The essence of vision-robotics integration: the equivalent of LabVIEW 3-icon demo
Acquire the image Extract the information Download info to robot & execute
@Kuka, 20th May 2009
Vision for robotics in LabVIEW
17
QuickTime™ and a decompressor are needed to see this picture.
Machine vision, GPM, and ….
@Kuka, 20th May 2009
Vision for robotics in LabVIEW
We will not enter into the details of machine vision but .. Geometric and conventional pattern matching need to be complemented by other checks Parts may have different orientations / views It is necessary to discriminate recognizable / pickable / conformal (QC) parts Some inherent complexity can be removed with a ‘smart’ user interface The end user must be able to set pass / fail criteria, vision and robotics origin and zeros Auto-calibration tools are a must 18
QuickTime™ and a decompressor are needed to see this picture.
Generalising the application
@Kuka, 20th May 2009
Putting all the 'tools' together: Chameleon & Vision Inspector A 'general' application for p&p in different area In-process inspection Targeted to the end user / operator (the 'customers' of the machine manufacturers Remote support / configuration service
Vision for robotics in LabVIEW
19
QuickTime™ and a decompressor are needed to see this picture.
A quick word on 3D imaging
3D imaging has a great potential in robotics applications Available technologies: laser scanning, stereo-imaging, time of flight ImagingLab is currently working on 3D and has recently released a LabVIEW wrapper for the Ranger series of SICK-IVP cameras Well known example: random bin-picking (as opposed to palletizing) IL has developed a LabVIEW interface (under contract with SICK) for the Ranger series cameras hand has a close collaboration with SICK-IVP Acq e processing speed are an important issue
@Kuka, 20th May 2009
Vision for robotics in LabVIEW
20
QuickTime™ and a decompressor are needed to see this picture.
Few application examples …
@Kuka, 20th May 2009
Vision for robotics in LabVIEW
21
QuickTime™ and a decompressor are needed to see this picture.
A complex application: testing DIMM memory modules @ EEMS (ex Texas Instruments) (1’ 35’’ movie)
@Kuka, 20th May 2009
Fully automated functional testing of DIMM memory modules 64 interchangeable motherboards/ 256 memory slots 2 robots with common working space (collision avoidance) Full auto-guide / auto-learn / onboard camera Total testing cycle time compatible with production line Repetitive project
Vision for robotics in LabVIEW
22
QuickTime™ and a decompressor are needed to see this picture.
EST Projet (Educare per la Scienza e la Tecnologia): teaching vision & robotics at the ‘Leonardo da Vinci’ Science Museum in Milan Un progetto, anzi due, per il Museo della Scienza di Milano
@Kuka, 20th May 2009
Two ‘machines’ sponsored by NI, Mitsubishi, IL Recognising shape and colour, assembling and disassembling Interactive Taking care of an audience of variable age / designing for zero or little maintenance
Vision for robotics in LabVIEW
23
QuickTime™ and a decompressor are needed to see this picture.
Flexible manufacturing / flexible feeding: terminal blocks assembly
Components feeding / loading Assembly Highly modular Flexible / riconfigurable feeding station Flex feeder: computer-controlled vibration amplitude, direction and frequency One single software platform Advanced tools for auto-calibration Advanced tools for system configuration Quality control of the selected parts
CAD img courtesy of Brazzale Automazione @Kuka, 20th May 2009
Vision for robotics in LabVIEW
24
QuickTime™ and a decompressor are needed to see this picture.
A rapid feasibility study and prototyping for spray painting of 'antique looking' furniture components
Automatic part detection Generation of trajectory generation Direct downloading to robot controllers Camera mounted on robot arm: detection & guidance
@Kuka, 20th May 2009
Vision for robotics in LabVIEW
25
QuickTime™ and a decompressor are needed to see this picture.
The OPERA detector and 'bricks' In total there are 206336 bricks, ~ 1.8 kton spectrometer
2 x 31 Walls (each containing 3328 bricks)
SM2
210.000 bricks: 125 SM1 x 100 x 74 mm Alternate layers of Pb and photographic film Special Pb with low residual radiation emission Very high sensitivity film produced by Fuji
@Kuka, 20th May 2009
Vision for robotics in LabVIEW
26
QuickTime™ and a decompressor are needed to see this picture.
Conveyor tracking in pharmaceutical packaging
Dual line with 2 vision systems / 4 DENSO SCARA + 2 FANUC Large selection of different items Curved transparent / translucid plastic Multiple pattern matching / multiple object views ……
@Kuka, 20th May 2009
Vision for robotics in LabVIEW
27
QuickTime™ and a decompressor are needed to see this picture.
Building an ‘abstraction layer’: how to handle different brands of robots
An ‘action’ or command is essentially identical for different brands of robots A high level command (or program) common to ‘all’ robots is translated via a robot-specific plug-in High level LabVIEW robot protocol
Command
Kuka Protocol
Denso Mitsubishi Staubli Protocol Protocol Protocol
…
XYZ Protocol
Robot Controller @Kuka, 20th May 2009
Vision for robotics in LabVIEW
28
QuickTime™ and a decompressor are needed to see this picture.
Questions & answers …
@Kuka, 20th May 2009
Vision for robotics in LabVIEW
29
Vision for robotics in LabVIEW: from base concepts to application examples Ignazio E M Piacentini [email protected] www.imaginglab.it
Kuka Workshop, Rivoli, 20 May 2009
QuickTime™ and a decompressor are needed to see this picture.
Agenda
The NI product offer Basic concepts and requirements A 'platform' for vision-based robotics applications Generalising the application sw Few application examples Questions and answers
@Kuka, 20th May 2009
Vision for robotics in LabVIEW
2
QuickTime™ and a decompressor are needed to see this picture.
A long story: back in the early nineties …
Concept VI: a vision library for LabVIEW in the very early nineties (France) Acquired by NI Corporate in 1996 Development of a full line of Vision hw and sw products in NI
@Kuka, 20th May 2009
Vision for robotics in LabVIEW
3
QuickTime™ and a decompressor are needed to see this picture.
NI LabVIEW
Embedded (FPGA) Sensor
Graphical development environment PC-based systems to embedded real-time targets Integrated measurements, analysis, connectivity and control
Handheld Wireless Networked I/O Vision System
Reconfigurable Control I/O
Industrial Computer (PXI) PC Workstation
@Kuka, 20th May 2009
Vision for robotics in LabVIEW
4
QuickTime™ and a decompressor are needed to see this picture.
NI Vision Capabilities
@Kuka, 20th May 2009
Vision for robotics in LabVIEW
5
QuickTime™ and a decompressor are needed to see this picture.
NI Vision Platform NI Vision Develoment Module
NI Vision Builder for Automated Inspection
Programming tools for LabVIEW, LabWindows/CVI, and MS Visual Studio
Configure, benchmark, and deploy without programming
NI Vision Acquisition Software Acquire, save, and display images from 1000s of cameras
NI Smart Cameras
@Kuka, 20th May 2009
NI Compact Vision Systems
PXI-based Vision Systems
Vision for robotics in LabVIEW
PC-based Vision Systems
6
QuickTime™ and a decompressor are needed to see this picture.
NI Vision Development Module
Programming libraries for LabVIEW, (LabWindows/CVI, Microsoft Visual Studio)
Hundreds of image processing and machine vision functions Includes Vision Assistant
Prototypes and benchmarks your application Generates code for LabVIEW, Visual Basic, and C
Think, solve, prototype and then program!!
@Kuka, 20th May 2009
Vision for robotics in LabVIEW
7
QuickTime™ and a decompressor are needed to see this picture.
Vision Builder for Automated Inspection
Ease of Use Interactive, menu-driven vision application software Connect, configure & deploy to CVS and Smart Cameras
Fast Development 40+ powerful machine vision tools Advanced decision-making Branching and looping capabilities
Industrial Inspection Isolated digital and serial I/O Built-in industrial protocols Complete pass/fail management
@Kuka, 20th May 2009
Vision for robotics in LabVIEW
8
QuickTime™ and a decompressor are needed to see this picture.
NI Frame Grabbers
PCI, PCIe, and PXI boards Analog
Camera Link
Base, medium and full config
IEEE 1394 control adaptors
Standard and non-standard
IEEE 1394a and 1394b
GigE Vision interfaces
Optimized for NI software
@Kuka, 20th May 2009
Vision for robotics in LabVIEW
9
QuickTime™ and a decompressor are needed to see this picture.
NI Compact Vision System
Real-time, rugged & reliable Multiple 1394 cameras (up to 16) Industrial connectivity 29 Digital I/O lines (TTL & Isolated) ENET, RS232, VGA
Built-in 256MB flash, 1394 HD support User-defined I/O w/ LabVIEW FPGA Configure with Vision Builder AI, or Program with NI LabVIEW
@Kuka, 20th May 2009
Vision for robotics in LabVIEW
10
QuickTime™ and a decompressor are needed to see this picture.
The NI Smart Camera Family Multiple sensors, starting with • Monochrome VGA and SXGA CCDs Partial scan (½, ¼) and Binning
Direct Drive Lighting Control
Powerful processing
• Strobe generation (5V TTL, 24V) • Current lighting controller
• PowerPC 400/533 MHz • DSP 720MHz coprocessor
Dual Gigabit Ethernet • I/O extension • Debugging •Industrial communication
@Kuka, 20th May 2009
Industrial I/O • Opto isolated 2-in & 2-out • RS232 • Encoder support Vision for robotics in LabVIEW
11
QuickTime™ and a decompressor are needed to see this picture.
The vision platform: from Smart Cameras to multicore PC
The hardware selection is dictated by the application needs:
Conventional PC Industrial Panel PC PXI-based industrial PC (Win-based or RT OS) Compact Vision System (Real Time OS) Smart Camera (Real Time OS)
The software platform remains the same!! See Smart Cam videoclip
@Kuka, 20th May 2009
Vision for robotics in LabVIEW
12
QuickTime™ and a decompressor are needed to see this picture.
The NI Vision Difference High-performance and ease-of-use • High-level tools and low-level functions • Single API for all NI Vision hardware • LabVIEW and C code generation with Vision Assistant
@Kuka, 20th May 2009
Vision for robotics in LabVIEW
13
QuickTime™ and a decompressor are needed to see this picture.
The NI Vision Difference Open platform for interoperability and connectivity •
Camera Link – – – – –
•
•
NI PCIe-1429 (Full) NI PCIe-1430 (Dual Base) NI PCIe-1427 (Base) NI PCI/PXI-1428 (Base/Medium) NI PCI-1426 (Base)
–
•
NI PCI/PXI-8252 (1394.a) NI PCI-8254R (1394.a) NI PCIe-8255R (1394.a & 1394.b)
•
NI PCIe-8231
Analog – – – –
IEEE 1394 – – –
GigE Vision NI PCI-1410 (4-ch mono.) NI PXI-1409 (4-ch mono.) NI PCI/PXI-1411 (1-ch color/mono.) NI PCI-1405 (1-ch color/mono.)
Parallel Digital – –
NI PCI-1422 (RS422, LVDS) NI PCI-1424 (RS422, LVDS, TTL)
NI Vision Acquisition Software
@Kuka, 20th May 2009
Vision for robotics in LabVIEW
14
QuickTime™ and a decompressor are needed to see this picture.
The NI Vision Difference: scalability Scalable software / scalable hardware
From Smart Camera to PC (industrial or standard) Configurable or programmable sw Adapting hw and sw to the complexity of the solution
n Visio
AI r e d Buil
EW I V b or La
PC-Based Vision Systems
PXI Vision Systems
Compact Vision Systems
Smart Cameras
Smart Cameras @Kuka, 20th May 2009
Embedded Vision Systems Vision for robotics in LabVIEW
Size
PC-Based Vision Systems 15
QuickTime™ and a decompressor are needed to see this picture.
A quick demo in VBAI (Vision Builder for Automated Inspection) and just a glance at the Vision library in LabVIEW ….
@Kuka, 20th May 2009
Vision for robotics in LabVIEW
16
QuickTime™ and a decompressor are needed to see this picture.
The essence of vision-robotics integration: the equivalent of LabVIEW 3-icon demo
Acquire the image Extract the information Download info to robot & execute
@Kuka, 20th May 2009
Vision for robotics in LabVIEW
17
QuickTime™ and a decompressor are needed to see this picture.
Machine vision, GPM, and ….
@Kuka, 20th May 2009
Vision for robotics in LabVIEW
We will not enter into the details of machine vision but .. Geometric and conventional pattern matching need to be complemented by other checks Parts may have different orientations / views It is necessary to discriminate recognizable / pickable / conformal (QC) parts Some inherent complexity can be removed with a ‘smart’ user interface The end user must be able to set pass / fail criteria, vision and robotics origin and zeros Auto-calibration tools are a must 18
QuickTime™ and a decompressor are needed to see this picture.
Generalising the application
@Kuka, 20th May 2009
Putting all the 'tools' together: Chameleon & Vision Inspector A 'general' application for p&p in different area In-process inspection Targeted to the end user / operator (the 'customers' of the machine manufacturers Remote support / configuration service
Vision for robotics in LabVIEW
19
QuickTime™ and a decompressor are needed to see this picture.
A quick word on 3D imaging
3D imaging has a great potential in robotics applications Available technologies: laser scanning, stereo-imaging, time of flight ImagingLab is currently working on 3D and has recently released a LabVIEW wrapper for the Ranger series of SICK-IVP cameras Well known example: random bin-picking (as opposed to palletizing) IL has developed a LabVIEW interface (under contract with SICK) for the Ranger series cameras hand has a close collaboration with SICK-IVP Acq e processing speed are an important issue
@Kuka, 20th May 2009
Vision for robotics in LabVIEW
20
QuickTime™ and a decompressor are needed to see this picture.
Few application examples …
@Kuka, 20th May 2009
Vision for robotics in LabVIEW
21
QuickTime™ and a decompressor are needed to see this picture.
A complex application: testing DIMM memory modules @ EEMS (ex Texas Instruments) (1’ 35’’ movie)
@Kuka, 20th May 2009
Fully automated functional testing of DIMM memory modules 64 interchangeable motherboards/ 256 memory slots 2 robots with common working space (collision avoidance) Full auto-guide / auto-learn / onboard camera Total testing cycle time compatible with production line Repetitive project
Vision for robotics in LabVIEW
22
QuickTime™ and a decompressor are needed to see this picture.
EST Projet (Educare per la Scienza e la Tecnologia): teaching vision & robotics at the ‘Leonardo da Vinci’ Science Museum in Milan Un progetto, anzi due, per il Museo della Scienza di Milano
@Kuka, 20th May 2009
Two ‘machines’ sponsored by NI, Mitsubishi, IL Recognising shape and colour, assembling and disassembling Interactive Taking care of an audience of variable age / designing for zero or little maintenance
Vision for robotics in LabVIEW
23
QuickTime™ and a decompressor are needed to see this picture.
Flexible manufacturing / flexible feeding: terminal blocks assembly
Components feeding / loading Assembly Highly modular Flexible / riconfigurable feeding station Flex feeder: computer-controlled vibration amplitude, direction and frequency One single software platform Advanced tools for auto-calibration Advanced tools for system configuration Quality control of the selected parts
CAD img courtesy of Brazzale Automazione @Kuka, 20th May 2009
Vision for robotics in LabVIEW
24
QuickTime™ and a decompressor are needed to see this picture.
A rapid feasibility study and prototyping for spray painting of 'antique looking' furniture components
Automatic part detection Generation of trajectory generation Direct downloading to robot controllers Camera mounted on robot arm: detection & guidance
@Kuka, 20th May 2009
Vision for robotics in LabVIEW
25
QuickTime™ and a decompressor are needed to see this picture.
The OPERA detector and 'bricks' In total there are 206336 bricks, ~ 1.8 kton spectrometer
2 x 31 Walls (each containing 3328 bricks)
SM2
210.000 bricks: 125 SM1 x 100 x 74 mm Alternate layers of Pb and photographic film Special Pb with low residual radiation emission Very high sensitivity film produced by Fuji
@Kuka, 20th May 2009
Vision for robotics in LabVIEW
26
QuickTime™ and a decompressor are needed to see this picture.
Conveyor tracking in pharmaceutical packaging
Dual line with 2 vision systems / 4 DENSO SCARA + 2 FANUC Large selection of different items Curved transparent / translucid plastic Multiple pattern matching / multiple object views ……
@Kuka, 20th May 2009
Vision for robotics in LabVIEW
27
QuickTime™ and a decompressor are needed to see this picture.
Building an ‘abstraction layer’: how to handle different brands of robots
An ‘action’ or command is essentially identical for different brands of robots A high level command (or program) common to ‘all’ robots is translated via a robot-specific plug-in High level LabVIEW robot protocol
Command
Kuka Protocol
Denso Mitsubishi Staubli Protocol Protocol Protocol
…
XYZ Protocol
Robot Controller @Kuka, 20th May 2009
Vision for robotics in LabVIEW
28
QuickTime™ and a decompressor are needed to see this picture.
Questions & answers …
@Kuka, 20th May 2009
Vision for robotics in LabVIEW
29
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