Dobot Magician Vision Software Guidedownload.dobot.cc/product-manual/robot-vision-kit/... · Dobot...

ShenZhen Yuejiang Technology Co., Ltd.

Dobot Magician

Vision Kit Package Guide

User Guide

Issue: V1.0.0

Date: 2018-04-27

Dobot Vision Kit Software User Guide (based on Dobot Magician)

Issue V1.0.0（2018-04-27） User Guide Copyright © Yuejiang Technology Co., Ltd.

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Copyright © ShenZhen Yuejiang Technology Co., Ltd. 2018. All rights reserved.

No part of this document may be reproduced or transmitted in any form or by any means

without prior written consent of Yuejiang Technology Co., Ltd.

Disclaimer

To the maximum extent permitted by applicable law, the products described (including its

hardware, software and firmware, etc.) in this document are provided AS IS, which may have flaws,

errors or faults. Yuejiang makes no warranties of any kind, express or implied, including but not

limited to, merchantability, satisfaction of quality, fitness for a particular purpose and non-

infringement of third party rights. In no event will Yuejiang be liable for any special, incidental,

consequential or indirect damages resulting from the use of our products and documents.

Before using our product, please thoroughly read and understand the contents of this document

and related technical documents that are published online, to ensure that the robotic arm is used on

the premise of fully understanding the robotic arm and related knowledge. Please use this document

with technical guidance from professionals. Even if follow this document or any other related

instructions, Damages or losses will be happen in the using process, Dobot shall not be considered

as a guarantee regarding to all security information contained in this document.

The user has the responsibility to make sure following the relevant practical laws and

regulations of the country, in order that there is no significant danger in the use of the robotic arm.

ShenZhen Yuejiang Technology Co., Ltd.

Address: 4F, A8, Tanglang Industrial Area, Taoyuan Street, Nanshan District, Shenzhen, PRC

Website: https://www.dobot.cc/

https://www.dobot.cc/

Dobot Vision Kit Software User Guide (based on Dobot Magician) Preface


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Preface

Purpose

This document describes how to implement camera calibration, feature extraction, and pick-

and-place using three software tools contained in Dobot Magician vision kit package.

Intended Audience

This document is intended for:

Customer Engineer

Sales Engineer

Installation and Commissioning Engineer

Technical Support Engineer

Change History

Date Change Description

2018/04/27 The first release

Symbol Conventions

The symbols that may be founded in this document are defined as follows.

Symbol Description

DANGER

Indicates a hazard with a high level of risk which, if not

avoided, could result in death or serious injury

WARNING

Indicates a hazard with a medium level or low level of

risk which, if not avoided, could result in minor or

moderate injury, robotic arm damage

NOTICE

Indicates a potentially hazardous situation which, if not

avoided, can result in robotic arm damage, data loss, or

unanticipated result

NOTE Provides additional information to emphasize or

supplement important points in the main text

Dobot Vision Kit Software User Guide (based on Dobot Magician) Contents


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Contents

Vision-based Picking Process ............................................................................... 1

Preparations .......................................................................................................... 2

Windows System Requirements ....................................................................................... 2

Obtaining Vision Kit Software Package ........................................................................... 2

Prerequisites ...................................................................................................................... 2

Calibrating Camera .............................................................................................. 3

Extracting Feature ................................................................................................ 8

Performing Vision Pick-and-Place Tasks ......................................................... 12

FAQ ...................................................................................................................... 15

Dobot Vision Kit Software User Guide

(based on Dobot Magician)

1 Vision-based Picking Process


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Vision-based Picking Process

Dobot Magician vision kit package involves three software tools Calibration, HSV_Debug,

and SortColor. This topic describes how to complete vision identification with these software tools.

Figure 1.1 shows the process.

NOTICE

Only launch one software tool at a time. Otherwise, the COM port is being used, and the

other software cannot be launched.

Figure 1.1 Vision-based pick-and-place process



2 Preparations


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Preparations

Windows System Requirements

Dobot Magician vision kit software tools support the following Windows versions.

Windows 7

Windows 8

Windows 10 (This manual is explained based on this version)

Obtaining Vision Kit Software Package

You can contact sales engineers for the latest vision kit software package containing the three

software tools above, and decompress it to a specific directory.

Prerequisites

Dobot Magician has been installed, powered on, and connected to a PC.

Dobot Magician vision kit has been installed and connected to the same PC as above.

Vision kit package has been obtained.

NOTE

For more information about how to install robotic arm, download Dobot Magician

User Manual v1.2.5 from

https://www.dobot.cc/downloadcenter.html?sub_cat=73#sub-download.

For detailed information about vision kit installation, contact sales engineers for

its user guide.

https://www.dobot.cc/downloadcenter.html?sub_cat=73#sub-download



3 Calibrating Camera


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Calibrating Camera

The Dobot Magician Calibration software is designed to get the coordinate transformation

matrix transformed from points in image coordinate system to the corresponding points of robotic

arm in the Cartesian coordinate system.

Procedure

Figure 3.1 Pen holder kit Installation

NOTICE

Please make sure the chessboard image on the Calibration interface is clear. If not,

please set the lens aperture, the focal length or light source on the camera to make it clear,

avoiding camera calibration failure. For details, contact sales engineers for the relevant

user guide.





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Figure 3.2 Calibration interface

Figure 3.3 Red, green, blue points on the chessboard image and their coordinates





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NOTICE

Ensure that red, green, and blue points on the chessboard image correspond to

Red Point, Green Point, and Blue Point on the Image Points panel.

Otherwise, no correct coordinates will be got.

Do not place foreign objects within the camera’s range. Otherwise, red, green,

and blue calibrated points may not be displayed on the chessboard image or

Calibration software does not work.

During the camera calibration, do not move the chessboard. If moved, wrong

coordinates are transformed.

1. In the Dobot Points area, click Calibrate Dobot (Home) to set

the robotic arm back to its home point for getting a correct

reference position, as shown in Figure 3.4.

NOTICE

During the homing procedure, do not hinder the robotic arm's movement with an

obstacle. Otherwise, homing for the robotic arm fails. If failed, perform the homing

process again.

Figure 3.4 Home the robotic arm





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2. According to the red point on the chessboard image, move the Dobot Magician

to the corresponding point on the actual chessboard. To get correct coordinates

in the Cartesian coordinate system, ensure that the pen tip is located right above

this point.

Figure 3.5 Red point and its corresponding point on the actual calibration board

3. In the Dobot Points area, click Red Point to get the corresponding Cartesian

coordinate of the robotic arm, as shown in Figure 3.6.

Figure 3.6 The corresponding red coordinate in the Cartesian coordinate system

4. Get the corresponding Cartesian coordinates of green and blue points

respectively by referring to the description in 2 and 3.

The Result dialog box is displayed, indicating the camera calibration is successful,





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as shown in Figure 3.6. Besides, CalibrationParams.xml file is generated to save the

coordinate transformation matrix transformed from points in image coordinate

system to the corresponding points of the robotic arm in the Cartesian coordinate

system, which is stored in the same directory as that of the Calibration software.

Figure 3.6 Result dialog box



4 Extracting Feature


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Extracting Feature

HSV color model consists of Hue, Saturation, and Value. The Dobot Magician HSV_Debug

software is designed to extract feature from the color cubes by setting the HSV parameters.

Procedure

Place red, green, and blue cubes on the camera holder, as shown in Figure 4.1.

Figure 4.1 Place red, green, and blue cubes on the camera holder

NOTICE

To prevent feature extraction failure, ensure that the cube image on the HSV_Debug

interface is clear. Otherwise, set the lens aperture, the focal length or light source on the

camera. For detailed information about these settings, contact sales engineers for the

relevant user guide.





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Figure 4.2 HSV_Debug interface

1. Click GetImage.

2. Select Red to locate the red cube’s position on the HSV_Debug interface, as

shown in Figure 4.3.

NOTE

During the feature extraction, if you want to view the image of the color cubes, click

GetImage.

Figure 4.3 Select Red label for the red cubes

3. Drag the sliders of Hue, Saturation, and Value parameters until the red cubes

turn white and the other cubes are disappeared, as shown in Figure 4.4.





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NOTICE

While setting the HSV parameters, make sure LowH is smaller than HighH, LowS

smaller than HighS, and LowV smaller than HighV.

Figure 4.4 Set the HSV parameters

4. Set the pixel area.

Adjust the Min Area and Max Area parameters until the white cubes above

turn blue, as shown in Figure 4.5.

NOTICE

During the setup process, ensure that Min Area is less than Max Area.

Figure 4.5 Set the Min Area and Max Area parameters





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5. Click OK.

The Result dialog box is displayed, indicating that feature extraction is

successful, as shown in Figure 4.6. Besides, HSVParams.xml file is generated

to save the feature of the red cubes, which is stored in the same directory as that

of the HSV_Debug software.

Figure 4.6 Result dialog box

6. Click OK to close the Result dialog box.

7. Select Green and Blue for green and blue cubes respectively to obtain the

features from green and blue cubes by referring to the description in 2 and 6.



5 Performing Vision Pick-and-Place Tasks


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Performing Vision Pick-and-Place Tasks

The SortColor software is designed for vision-based picking and placing color cubes. This

process is completed by calling the previously saved files CalibrationParams.xml and

HSVParams.xml, setting the target positions where the color cubes should be moved to, and

configuring the suck height where the robotic arm begins to carry the cubes.

Procedure

Place the red, green, and blue cubes on the camera holder.

The SortColor interface is displayed, as shown in Figure 5.1. It shows an image of

six color cubes taken with the camera.

NOTICE

To prevent vision-based pick-and-place failure, ensure that the cube image on the

SortColor interface is clear. Otherwise, set the lens aperture, the focal length or light

source on the camera. For detailed information about these settings, contact sales

engineers for the relevant user guide.

Figure 5.1 SortColor interface

1. Move the Dobot Magician to the target position for the red cube.

NOTICE

To keep enough height for placing two red cubes, ensure that this target position

is two times as high as one red cube.





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2. In the Red PlacePoint area, click Get to get the target position coordinate for

the red cube, as shown in Figure 5.2.

Figure 5.2 Get the red cube’s target position coordinate

3. Set the target position coordinates for green and blue cubes

respectively by referring to the description in 1 and 2.

1. Move the robotic arm until the suction cup is right above up a color cube and

close enough to lift this cube.

2. In the Suck Height Setting area, click Get Suck Height to get the suck height,

as shown in Figure 5.3.

Figure 5.3 Get the suck height





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Figure 5.4 Start the vision-based pick-and-place



6 FAQ


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FAQ

Q: What should I do if the following error message dialog appears, as shown in Figure 6.1,

when launching the Calibration, HSV_Debug or SortColor software?

Figure 6.1 Error message dialog

A:

Only launch one software tool at a time. Otherwise, the COM port is being used, and the

other software cannot be launched correctly.

Ensure that both the robotic arm and vision kit are connected to the same PC via USB

cables.

Close the corresponding software process in the Windows task manager.

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