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3.1.2. Manipulation Buttons

3.1.2. Manipulation Buttons​

 

As the button operating the key function of HRVision 3D-Stereo, each function is as follows.

 

 

n  Settings

This is a menu for setting/managing various functions and linked hardware. There are 12 sub-menus, as shown below

 

-   System

Set the camera type, camera calibration method, result outputting method, communication, and others. Select in a way that is suitable for the surrounding facilities and the environment where the installation will be carried out.

 

-   Serial Communication

Set the serial communication variable in a way that is suitable for the surrounding facilities and the environment where the installation will be carried out.

 

 

-   Ethernet Communication

Sets the Ethernet communication variable in a way that is suitable for the surrounding facilities and the environment where the installation will be carried out.

 

 

-   Camera Setting

Sets the camera type, connection port, exposure, and others

 

 

-   Exposure Setting

Sets the user exposure for each type of camera

 

 

-   Model

Input the car mode information, and press the “Save” button to store it.

 

 

-   Reference Points

Registers the position of the workpiece in relation to the measured four points as the reference position

 

 

-   Auto 3D Correction

When “All Points” is selected, the measured 3D data will be calibrated and outputted. On the other hand, when “Non-Use” is selected, the uncorrected data will be outputted. The default is “Non-Use.”

 

-   Shift Offset Setting

Set the shift offset for each model.

 

 

-   Limit Setting

Set the range of the measured data and the error range of the distance between the measured feature points.

 

-   Limit

The “Moving Distance Limit” represents the distance limit within which the measured feature points can move in space. The “Hole-to-Hole Distance Error” represents the error threshold between the measured feature points. If the 3D position of the workpiece moves beyond the “Moving Distance Limit” compared with the reference car body, NG will be outputted. If the distance between the feature points goes beyond the threshold value, NG will also be outputted.

 

 

-   Password

Execute password change.

 

 

-   File Management

Set the error generation image saving cycle and the deletion time. Considering that data deletion could cause a significant load on the system, it is recommended to set the deletion time at the early hours when the robot is not in operation.

 

 

n  Calibration

Loads the camera calibration program, and calculates the relationship between the robot and the camera

 

-   Camera Calibration

The stereo camera calibration execution dialog will be loaded, and the camera projection matrix will be calculated. Clicking the [Save] button will save the projection matrix

 

 

-   Automatic Camera Calibration

Executes stereo camera calibration automatically, and calculates and saves the camera projection matrix

 

 

-   Robot-Camera Calibration

Calculates the relationship between the calibration plate, which is used for camera calibration, and the robot

 

 

-   Hand-Eye Calibration

Calculates the relationship between the robot and the camera attached to it

 

 

n  Grab

Every time you click, it captures currently shown image.

 

n  Live Display

“Continuous image” will be displayed from the installed camera.

 

n  Exposure

Provides three types of autoexposure mode

 

-   Registered Exposure

Acquires the image by applying the exposure used when registering the pattern

 

-   Auto Exposure

Changes the exposure automatically to ensure that the brightness of the image, which is used when registering the pattern, would be similar to that of the current image When this mode is used, the image acquisition speed will slow down.

 

-   User Exposure

Acquires the image by applying the exposure used by the user

 

n  Search

When there is a pattern registered already, pattern recognition will be performed once after the image is acquired.

 

n  3D

When there is a pattern registered already, pattern recognition will be performed once after the image is acquired. After that, the 3D coordinate value will be calculated.

 

n  Disp. Option

Decides whether to display the output data of the result to be displayed on the image window after the pattern is recognized

 

-   Score

Displays the matching ratio of the pattern recognition result

 

-   Pattern Region

Displays the pattern recognition region

 

-   Coordinate Axes

Displays the coordinate axis of the pattern recognition

 

-   Origin

Displays the origin of the pattern recognition

 

-   Center and Scale

Maintains the exposure set in the camera setting window

 

-   Center Guide Line

Displays a cross at the center of the image

 

n  Load Pattern

Loads the registered pattern

 

n  BackUp Data

Saves the currently set pattern data and the calibration data into the “C:*HRVision Stereo*Backup” folder

 

n  DataBase

Displays a search window for the error data base and the measured data base

The search data can be displayed in connection with the “Microsoft Excel” program.

 

 

 

n  Manual/Auto

Change the manual/auto mode. In the auto mode, it is impossible to operate all buttons, and they can be operated through communication with the PLC and the robot.