Warning

You are reading an old version of this documentation. If you want up-to-date information, please have a look at 3.3 .

Glossary

Angle

Rotation of the part relative to a reference. The zero angle corresponds to the X direction of the part when it is horizontal. The angle unit is the degree [°].

Angle repetition

For symmetrical parts. For example, a hexagon can be created by repeating a triangle shape around the center 6 times.

The angle repetition implies that the same part can be picked up by the robot from each of its angles.

Asycube

It is a vibratory plate developed by Asyril SA. Synonym: feeder

Asyril SA

A Swiss company that develops flexible feeding systems.

Backlight

Is the light that comes out of the production plate (can be red, blue, green or white). It is an internal Asycube component.

Bounding box

The virtual box (green or red) enclosing the detected parts.

Bad candidate

Candidates that have been classified as bad for the robot pick up because of their orientation. The side of the part that faces upwards is not pickable by the robot.

Calibrated unit

Distance unit using the metric or imperial measurement system depending on the user settings. The connection with the real world is assured by the vision calibration during the camera configuration process.

Candidate

A potential good part. Candidates are the outputs of the 2. Candidate Detection step: all the detected parts.

Classification

The act or process of dividing things into groups according to their type. The EYE+ classification classifies the detected parts in the groups of good or bad candidates.

EYE+

Is the intelligent visual part detection system for Asycube flexible feeder.

Frontlight

Is the optional light that illuminates the Asycube from above.

Good candidate

Candidates that have been classified as good for the robot pick up because of their orientation. The side of the part that faces upwards is pickable by the robot.

Gripper

A mechanical tool that is installed at the end of a robot arm or other moving element and that is used to pick good parts from the plate.

Hand-eye calibration

This is the process of finding 4 different robot coordinates and correlating them with the 4 corresponding vision coordinates. The objective is to obtain a transformation matrix from the vision system to the robot system.

Hopper

It is a large tube which feeds the Asycube thanks to vibrations (optional for Asycube 240/380/530). For the smallest Asycube (50/80), the hopper is integrated. The purpose of the hopper is to control the flow of material falling inside an Asycube.

Hopper vibration

In the case of an integrated hopper, it corresponds to the excitation of the actuator in order to obtain the desired parts trajectory on the hopper (tuned by modifying the duration of vibrations). For smallest Asycube (50/80), the amplitude and frequency can be adjusted and for larger Asycube(240/380/530) the amplitude can be adjusted by hand with the external potentiometer.

Orientation

The orientation of a part corresponds to a part configuration in which a specific face of the part faces upwards. For example, a cube has 6 different orientations.

Part

A part is an object that is placed on the production plate to be detected by the EYE+ vision system in order to be picked by a gripper.

Pick point

The pick point is the point that you have to define in your recipe that represents the pick position of the robot. This point will then be converted into X and Y vision coordinates which will be converted into robot coordinates after hand-eye calibration. These robot coordinates are sent directly in response to a get_part command.

Pick angle

The pick angle is the angle of the part that you have to define in your recipe and that represents the pick angle of the robot. This angle is converted to RZ coordinates (in degrees). This angle (in vision coordinates frame) is sent directly in response to a get_part command.

Platform vibrations

Is defined as the combination of the excitation of each actuator (adjusted by changing the amplitude, frequency, phase and duration of the vibrations) to obtain the desired trajectory of the parts on the production plate. In the recipe, 5 or 7 vibrations (depending on the size of the Asycube) can be set. These vibrations are used to define the vibration sequence.

Position

Refers to the geographical position of the part on the production plate. It is usually expressed in X and Y coordinates

Production cycle

This is the series of commands executed by EYE+ along with the robot to search/find parts on the plate in order to pick them up.

Production plate

The moving element of the Asycube to make the parts vibrate.

RCF

Robot Coordinate Frame, see Robot coordinate frame (RCF) for more information.

Recipe

A file containing multiple information about a part. It stores all the configuration information used for this part (acquisition settings, vibration parameters) as well as vision parameters allowing to classify the parts, to position the pick point and the pick angle. All the parameters that you enter manually when editing a recipe will also be stored in this file (part size, part height, optimal number of parts…).

Each recipe is associated with a name and a unique identifier and is tracked in time with the creation date and the last edition date.

Smart vibrations

The smart vibrations are based on the data collected by the vision system in order to adapt the vibrations of the Asycube and the hopper according to the situation.

Two types of smart vibration exist in EYE+:

  • smart feeding: vibration of the hopper to obtain the desired number of parts on the Asycube.

  • smart centering: vibration of the Asycube to center the center of mass of the parts detected on the platform.

Segmentation

The image segmentation is a process that divides an image into different regions based on the characteristics of pixels to identify objects or boundaries. In this application, the segmentation separates the parts from the background.

TCF

Tool Coordinate Frame, see Tool coordinate frame (TCF) for more information.

Vibration sequence

A vibration sequence is a series of defined vibrations of the production plate and hopper activated successively for defined duration. A vibration sequence is started when EYE+ requests a vibration during production (e.g. after a get_part or prepare_part).

Vision calibration plate

Is the plate that needs to be attached to the Asycube to perform the vision calibration. A regular pattern is printed on it (checkerboard).