Locations

Vision System for Industrial Robots

 
5. Hardware and software architecture
Update #10180  |  27 Feb 2015
 

Summary


Since all core configuration has been done successfully, it is time for architecture considerations. In this update I present architecture of Robot-Vision system as a mind maps. I decided to create them to organize work. In the next updates I will show results of work on hardware and software part of system in two update series "Hardware" and "Software".

 

Hardware architecture



Mind map of hardware architecture

 

Hardware components that need to be done


  •  Power Supply Board with RS232
    This module will solve problem of different voltage levels between Iris board and USB hub. Also it will contain D-Sub 9 port which allow to connect standard RS232 devices.
  •  Device Case
    Main elements of system will be locked in plexiglas case for safe, practice and demonstration reasons.
  •  Camera Mounting with Lighting
    Because of unusual use of webcam there is need for custom camera mounting. Lighting source mounted near camera will remove shadows.
  •  Background
    Special background is needed for good object detection, position calculation and accurate determination local base for robot.


Software architecture



Mind map of software architecture

 

Software parts that need to be implemented


  •  Camera Image
    Take image from camera periodically and provide it to other classes.
  •  Camera Configuration
    Allow to change camera settings focus, contrast, zoom etc. for best image quality.
  •  Background Area Configuration
    Gather information of static background in order to future background subtraction and position calculations.
  •  Find And Classify Objects
    Gather information of static background in order to future background subtraction and position calculations.
  •  Position Calculations
    Calculate real object position in local base from image position.
  •  Serial Transmission
    Code information of object number and their coordinates into frame and provide RS232 configurable transmission.
  •  Main Window
    Manages the exchange of information between objects of classes, and provide main window of user interface.
  •  Robot Program
    Program that runs on industrial robot and communicate with Robot-Vision system.
 

Comments