Adept PC-Based Machine Vision

1. Adept PC-Based Machine Vision HexSight and Adept iSight

2. Adept Technology Leader in Vision-Motion Control for Small Parts Assembly & Handling

3. Fast, robust object location • High performance - geometric object location • Performs well in harsh environments • Scale and rotation independent • High accuracy - 1/50th pixel or better • Model-based inspection tools

4. Robustness • Can locate faster in poorer visibility • Objects can be occluded, overlapping, touching

5. Unique, powerful contour recognition • Best in subpixel accuracy • Scales easily - from simple to complex object finding

6. Fast & portable calibration • Calibration ensures excellent subpixel accuracy • Calibrate for: • lens distortion • perspective distortion • pixel size • Portable calibration files: reuse calibrations

7. Model-based object finding • Automatic model-teaching • Model creation & edition • Create and edit either programmatically or through User Interface • Portable Models • Save and reuse across applications • Share across calibrated vision setups

8. Model-basedtool positioning • Tools can be positioned on Model instances • Model-based tools are applied to found object in its “as found” position • Edge Locator, Caliper, Blob Analyzer, geometric Finder tools, etc.

9. Designed for embedding Integration made easier by multiple packaging options: • ActiveX controls • DLL C++ libraries on Windows (fully compatible with .NET environment) • Static C++ libraries Platform independent • Algorithms can be ported to various platforms and Operating Systems • Algorithms can be ported to most processors

10. HexSight 3.3 Quick Facts • All tools available as C++ Libraries • Fully compliant with the .NET development environment • New basic setup mode for the Locator • Locator made model-based (cascaded) • Accurate location of sub-features of varying scale and rotation • New application examples • How to integrate Locator as a DLL (OEM use) • New Locator example

11. New innovative addition in HexSight 3.3 • Locator made model-based (cascaded Locators) • Accurate location of sub-features of varying scale and rotation

12. Applications: Automotive Tire thread inspection Brake pads inspection

13. Applications: Consumer Electronics Disk Drive Cassette inspection Disk Drive Head inspection

14. Applications: Electronics Components Regulators inspection

15. Applications: Food Donuts location (for pick) and inspection

16. Applications: Consumer Products (Cosmetics) Perfume bottles identification and location (for pick by an Adept robot)

17. Vision Guidance Integration • Vision Tools & Algorithms • Camera & Robot Calibration • Transformations & Control + Adept Integration equals + _________ Simplicity Performance Applications: RefinePickPlace Supportability

18. Vision on-the-fly

19. Vision-based Flexible Feeding

20. Packaging with vision and conveyor tracking

21. Value through broadening market applications 3D FLEX Assembly Bin Picking Intelligent Tightly integrated vision, “just like a human” Multi Product Assembly Conveyer Tracking Boxing Take Out Small-Lot Assembly Vision Assembly Movement Assembly Vision is added-value to production line Assemble Alternate Parts Control Load Unload Simple Assembly Two Handed Work Vision not required Pick & Place Rigid Simple Movement Complex

22. Synchronization Tolerance Communications Calibration User interface The cost of complexity • Technical risk and cost go hand-in-hand Risk increases as a multiple of complexity

23. Opportunities • Systems Integrators • Avoid competitive battles on labor cost • Focus on overall system (structure, sequence, etc.) Install ↓ Commissioning time Operate ↑ Plant production ↓ Setup time • OEMs • Sharpen focus on strategic market value, (not on fine details of technical components) Productivity Profitability • Users • Raise plant ROI by lowering CAPEX • Increase opportunities to make money on lower volume products Design ↓ Programming effort ↓ Setup time Maintain ↓Unscheduled downtime

24. Vision Guidance Integration Vision guidance made easy Combination of Adept DeskTop, vision software, camera and accessories in a single pre-validated package.

25. Adept iSight Overview Vision guidance made easy • Open, PC-based system • Turnkey system • Out-of-the-box solution • Vision software, camera, lens and accessories • Add-on to Adept DeskTop and Adept Cobra i-series • Seamlessly integrated with Adept DeskTop environment

27. Adept iSight Overview • Product family • First for Cobra i-series, expanding later on to other controls and mechanisms • Ease of use • Point-and-click vision application development • Simplicity • Robustness of the vision tools makes deployment easy • Performance • Benefits from the fastest and most robust geometric object locator

28. Building an application

29. A few simple steps… • Creating and editing modeles • Creating the vision sequence • Calibrating vision and robot-to-vision

30. Adept iSight User Interface Watch instances found Configure the tool parameters Drop tools in the toolbox Get found instances data

31. Applications: Medical devices Medical Infusion bags packaging • Multiple mechanisms • One or more cameras • Conveyor tracking with feeders/conveyors • High precision • Applications: • Food packaging • Pharmaceutical packaging • Flexible part manufacturing • Multi-product assembly

32. Applications: Electronics Assembly Electronics components flexible feeding and assembly

33. Applications: Electronics Assembly High precision screwdriving cell for disk drive assembly

34. Applications: Coinage Quality inspection and location for pick

35. Backup

36. Finder Tools • Arc Finder, Line Finder, Point Finder • Search Area that is defined by Position X, Position Y, Width, Thickness, Radius (for arc), and Rotation. • Multiple instances • Results output in either Image, World, Object, Tool coordinate systems. • Search for Dark To Light, Light To Dark, or either transition in greylevel values. • Supports edgestrength, sampling, and tolerance filtering of results

37. Builder Tools • Computed geometric features that have been created using output from other tools - Arc Finder, Line Finder, Point Finder, or another instance of the Builder tool.

38. Arc Caliper • The Arc Caliper tool finds, locates and measures the gap between one or more edge pairs on an object within a bounded area (called a Sector). • Arc Caliper uses pixel gray level values within the Sector to build projections, either annular or radial, needed for edge detection. • Can be applied to multiple instances • Multitude of configuration options and filtering Sector

39. Caliper Tool • The Caliper tool finds, locates and measures the gap between one or more edge pairs on an object within a rectangular bounded area. • Caliper uses pixel gray level values within bounded area to build projections needed for edge detection. • Can be applied to multiple instances • Multitude of configuration options and filtering

40. Edge Locators • Arc and rectangular edge detection • Once potential edges have been located, the Edge Locator scores these edges according to user-defined criteria and then returns results for valid edges it has located.

41. Blob Analyzer • Finds, labels and analyzes geometric and gray level properties of irregular shaped objects. • Hole analysis, • Contour information, • Area, position, perimeter, roundness, moments of inertia, elongation, center of mass, • Bounding box characteristics, • Gray level statistics

42. Pattern Locator • Detects low contrast or small features such as letters, numbers, symbols and logos on a part. • Patterns that can provide well defined contours can be modeled and found by the Locator tool. • Useful for • Detecting the presence/absence of a grayscale pattern on a modeled object (Locator). • Finding the rotation of a symmetric object using features on the object. • Classifying objects having the same contours by their grayscale features.

43. Image Processing Tools • Arithmetic Operations • Addition, Subtraction, Multiplication, Division, Lightest and Darkest. • Assignment Operations • Initialization, Copy and Inversion. • Transform Operations • Fast Fourier Transform, Discrete Cosine Transform (DCT) output as 1D Linear, 2D Linear, 2D Logarithmic or Histogram. • Logical Operations • And, Nand, Nor, Or and Xor. • Filtering Operations • Convolution operation using standard or custom kernal. Filters include Average, Gaussian, Horizontal Prewitt, Vertical Prewitt, Horizontal Sobel, Vertical Sobel, High Pass, Laplacian, Sharpen, SharpenLow and Median • Morphological Operations • Dilate, Erode, Close and Open • Histogram Operations • Equalization, Stretching, Light Threshold and Dark Threshold

44. Image Sharpness Tool • Used for verification or validation of the image sharpness of an image before it is processed by other tools. • Can also be used as a building block for implementing auto focus with motorized focus lens using sharpness value to close the loop.

45. Other Tools • Histogram Tool • Sampling Tool • Barcode Reader • Code 128, UPC-E, Code 39, UPC Supplemental, Code 93, PDF-417, Interleaved 2 of 5, BC 412, Codabar, Postnet, UPC/EAN, Pharmacode • OCR Fixed Font • Up to four lines of character strings having same font. • SEMI, OCR-A, and OCR-B. • Data Matrix Reader (2-D Symbology)