User Guide DobotVisionStudio User Guide Issue: V4.1.2 Date: 2022-06-08 Shenzhen Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Copyright © Shenzhen Yuejiang Technology Co., Ltd. 2022. All rights reserved. No part of this document may be reproduced or transmitted in any form or by any means without the 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.
DobotVisionStudio User Guide Contents Updates...................................................................................................................... 1 Product Introduction ............................................................................................... 2 Overview........................................................................................................................... 2 Characteristics ............................................................................
DobotVisionStudio User Guide Interface Configuration ..................................................................................... 59 Export Program ................................................................................................. 62 Data Queue ..................................................................................................................... 63 Flow Time ...............................................................................................................
DobotVisionStudio User Guide Circle Fit and Line Fit ..................................................................................... 133 Geometry Generation ...................................................................................... 134 Recognition ................................................................................................................... 135 2D BCR Recognition .......................................................................................
DobotVisionStudio User Guide Affine Transformation ..................................................................................... 198 Ring Expansion ............................................................................................... 198 Copy and Fill ................................................................................................... 199 Frame Mean .....................................................................................................
DobotVisionStudio User Guide Dobot Magician Tools ................................................................................................... 260 Moving to a Point ............................................................................................ 260 Speed Ratio...................................................................................................... 262 Home Calibration ............................................................................................
DobotVisionStudio User Guide Updates Version Description DobotVisionStudio 4.1.2 Updates: DobotVisionStudio 4.1.1 DobotVisionStudio 4.1.
DobotVisionStudio User Guide Product Introduction Overview DobotVisionStudio software integrates various algorithm components of machine vision. It is designed to quickly combine algorithms to find, measure the object and detect defection and so on, suitable for a variety of application scenarios. The DobotVisionStudio software features a powerful library of visual analysis tools, which can be used to build machine vision application solutions without programming.
DobotVisionStudio User Guide platform Minimum Operating System: Microsoft Windows 7/10 (64-bit Chinese-English operating system) .NET Running Environment: .NET4.6.1 and above CPU: Intel 3845 or above Memory: 4GB NIC: Gigabit Ethernet Graphics Card:1 GB or above. 6 GB or above is recommended for using GPU related deep learning functions. USB Interface: USB3.0 interface is required.
DobotVisionStudio User Guide IMVS-VM-4100 Yes No Yes Yes Yes Yes Yes No Yes VM-6400-S IMVS-VM-6100 VM-6600-S IMVS-VM-7100 VM-6700-S NOTE The dongle model of IMVS-VM-6100-EDU supports two cameras and two flows only, and supports TCP communication only. DobotVisionStudio Installation The installation steps are shown below. Double-click the installation package to install the software, as shown below. Click Next. Issue V4.1.2 (2022-06-08) User Guide 4 Copyright © Yuejiang Technology Co.
DobotVisionStudio User Guide Issue V4.1.2 (2022-06-08) User Guide 5 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Issue V4.1.2 (2022-06-08) User Guide 6 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Software Interface Welcome Page Double click to start the software, and the welcome page will pop up. There are four modules selectable: General Solution, Location & Measure, Defect Detection, and Recognition. General Solution includes the three latter modules. You can choose a module according to the edit type. Open Recent: Open the recently-used solutions.
DobotVisionStudio User Guide Area 1: Menu Bar. It includes File, Settings, System, Tools, and Help. Area 2: Control Toolbar. It provides quick operations for the software, including file saving, file open, camera management, controller management, etc. Area 3: Tool Box. It includes image collection, positioning, measurement, identification, calibration, position, image processing, color processing, defect detection, logic tools, communication, etc. Area 4: Flow Process.
DobotVisionStudio User Guide New: Create a new solution. After clicking, you can select whether to save the current solution. Open: Open a solution that was created and saved earlier. Open Recent: Open a recently solution. Open Example: Open the software example solution, mainly including the common visual solution that has been built. Save: Save the current algorithm solution with the suffix of. Sol. You can set encryption when you save the file, as shown in the following figure.
DobotVisionStudio User Guide The administrator can assign authority to technicians, as shown below. Tick Open All Tools can open configuration permissions of all modules. You can also customize the permissions which need to be opened. Software Settings Issue V4.1.2 (2022-06-08) User Guide 10 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Start-up Settings Auto Start After the function is enabled, the software will automatically start when the PC starts. Start Time Delay After startup, the software starts after the set time delay Run Interface After the function is enabled, the software will go to the running interface. Maximized when running After the function is enabled, the software will go to the running interface and the interface starts separately interface is in max. status.
DobotVisionStudio User Guide Solution Settings Path It sets the saving path of solutions. Password When a password is set for the target solution, the correct password is entered here before communication can switch solutions. String Only when the string sent by the communication is successfully verified with communication strings can solutions switch be triggered. Enable It refers to the communication switch control.
DobotVisionStudio User Guide Running Strategy The operating mode includes normal mode and diagnostic mode. If the software occupies too much system resources, prompt interfaces will pop up under diagnostic mode. The strategy mode includes default mode and custom mode. Customized thread allocation is recommended in case of big process time consuming fluctuations or high CPU usage caused by feature match.
DobotVisionStudio User Guide System You can find Log, Communication Management, Controller Management and Camera Set in System menu. Log: View the log information in the running process of software Communication Management: see Communication Management for details. Controller Management: see Controller Management for details. Camera Set: See Camera Management for details.
DobotVisionStudio User Guide ⚫ Static Calibration The static calibration uses a stationary single camera and a calibration board to determine the conversion relationship between the pixel coordinate system and the physical coordinate system. Steps: 1. Go to Tools and click Create One-Click Calibration Guide. 2. Click Static Calibration and click Create. 3. Click Config to enter communication management, add communication devices according to actual demands, and enter Trigger Signal. 4.
DobotVisionStudio User Guide 5. Click Calibration Board to calibrate. 6. View results. NOTE ⚫ The static calibration supports using calibration board to calibrate only. Dynamic Calibration The dynamic calibration is used for N-point calibration and N-image calibration file generation. The process of dynamic calibration creation is the same as that of static calibration. Steps: 1. Click Dynamic Calibration and click Create. 2.
DobotVisionStudio User Guide 5. Select the calibration method. Dynamic calibration supports N-point calibration and Nimage calibration. 6. View results. ⚫ Mapping Calibration Steps: 1. Click Mapping Calibration and click Create. 2. Click Config to enter communication management, add communication devices according to actual demands. 3. Enter Main Camera Trigger Signal, Secondary Camera Trigger Signal, and Mapping Signal according to actual demands. 4.
DobotVisionStudio User Guide This tool is used to customize the type of calibration board, the number of rows and columns of the calibration board, CAD and other parameters to generate images of calibration board. The image path is in:\VM\VisionMaster4.1.0\Applications\Tools\Demo. Custom Module Generate Tool This tool is used to help users develop customized modules. Steps: 1. Go to Tools and click Custom Module Generate Tool. 2. Select VM version. It is recommended to use the VM4.X. 3.
DobotVisionStudio User Guide displayed name and enumeration value. Regarding String, you can set max. length and default value. Regarding bool, you can set true and false. Regarding floatBetween and intBetween, you can set their parameter name, displayed name, min. value, max. value and default value. ⚫ Edit Status: After finishing settings in edit, the edit status displays Yes. Otherwise, it displays No.
DobotVisionStudio User Guide • Click Language to switch language between Chinese and English. • Click Help to view the user guide of the software. • Click Version to view the software version related information. • Click Welcome Page to display the welcome page. Control Toolbar Save: Click to save the solution. Open: Click to open the solution. Undo: Click to undo the current operation. Redo: Click to cancel the undo operation.
DobotVisionStudio User Guide Operation Interface: Click to display the operation window. You can customize the display interface based on your needs. See 3.14Operation Interface for details. Dobot: See Dobot Panel for details. File Path: display the solution name. Click to open the path where the solution is saved. NOTE The Once, Continuous and Stop operations in the toolbar work for all flows. To control a single flow, click the run control button in the flow.
DobotVisionStudio User Guide This section describes only general parameters. The parameter settings of specific tools will be described in the follow-up sections. Basic Parameters You can set some basic parameters in Basic params, generally including the selection of image input source and ROI settings, as shown in the figure below. Image input: Select the input source of the image processed by this tool from the dropdown list according to your own needs.
DobotVisionStudio User Guide You can also customize circle ROI, as shown below. The position of arrow 1 can be rotated and scaled by changing the curvature, and is based on the other edge vertex. Arrow 2 can be used to zoom in and out the inner and outer rings. The position of arrow 3 is used to translate the ring. The position of arrow 4 is used to change the radian of the ring.
DobotVisionStudio User Guide NOTE When you use ROI, the search direction of all tools is the direction of the ROI area, that is, the ROI area is regarded as an XY coordinate system, and ROI arrow direction is the positive direction of X axis. Top to bottom means finding a line from top to bottom along the Y-axis. Left to right means finding a line from left to right along the X-axis, as shown in the figure below. Mask area: You can customize polygon mask area with up to 32 vertices.
DobotVisionStudio User Guide Check Result: Judge the output result of the algorithm, which will affect the status of the module. Take radius judgment as an example. If radius judgment is enabled, the radius range of the target circle can be set. The default range is 0 to 99999. Image display: It displays the algorithm result in the image. This function is enabled by default. Click to close it. Click to set the color of OK and NG.
DobotVisionStudio User Guide You can click to view and bind data with corresponding global variable. Different modules have different results. See each module for specific data. Result Display Area Issue V4.1.2 (2022-06-08) User Guide 26 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide The result display area includes Current Result, History and Help. Current Result This area displays the operation result of the latest module. History This area displays the operation history of modules. Help This area explains the tool function and operation steps briefly. Flow Management Flow Operation The software supports creating multiple sub flows without interfering each other.
DobotVisionStudio User Guide Right click the flow index, and you can execute the following operations: Flow operation Flow Export Export flow files with .prc format. Copy the information of current flow and create a new one, and import the copied Flow Copy information into the new flow. Delete Delete the selected flows Run Interval The interval between two consecutive runs of a process. The unit of interval is ms.
DobotVisionStudio User Guide In main-flow page, you can click to edit output parameters as shown below. Click Display Settings to set display related parameters as shown below. Issue V4.1.2 (2022-06-08) User Guide 29 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Camera Management Click to add global camera, and set parameters according to actual demands after connection. Multiple processes can share a global camera, and it is best to have a execution order between processes. If multiple processes are executed at the same time and share the same global camera, they will be queued to acquire data.
DobotVisionStudio User Guide Gain You can increase gain to improve brightness without increasing exposure time. The camera supports Gamma correction, which provides a non-linear output mapping mechanism. Gamma value between 0 and 1: When image brightness increases, dark area becomes Gamma brighter. Gamma value between 1 and 4: When image brightness decreases, dark area becomes darker. Line Rate It refers to the line rate of line scan camera.
DobotVisionStudio User Guide Currently, eight brands are supported: DPS2, MV-AP1024-2T, MV-LEVD, VB2200, VC3000(Light), VC3000(IO), VC4000, and GPIO. For protocol, only COM is supported. NOTE For specific parameters, refer to the actual one you got. If DPS2, MV-AP1024-2T, MV-LEVD are selected as brand, you need to set communication parameter and light parameters. Communication Parameters Port Number It refers to the port number. Baud Rate The common baud rate includes 4800, 9600, 115200, etc.
DobotVisionStudio User Guide Baud Rate The common baud rate includes 4800, 9600, 115200, etc. Data Bit It includes 6/7/8. Parity Bit It includes odd/event/none. Stop Bit A stop bit is a character in asynchronous communication that lets a receiver know that the byte being transmitted has ended. IO Parameters Output Type It includes output when NG and output when OK. Send Interval It refers to the sending interval ranging from 0 ms to 100 ms.
DobotVisionStudio User Guide Communication Parameters Port Number It refers to the port number. Baud Rate The common baud rate includes 4800, 9600, 115200, etc. Data Bit It includes 6/7/8. Parity Bit It includes odd/event/none. Stop Bit A stop bit is a character in asynchronous communication that lets a receiver know that the byte being transmitted has ended. IO Parameters Output Type It includes output when NG and output when OK.
DobotVisionStudio User Guide IO Parameters Output Type It includes output when NG and output when OK. Output Polarity It selects output polarity, including PNP and NPN. Duration It sets the duration of signal output, and the unit is ms. Polling Enable After enabling it, you can set its polling interval. Delay Time It sets the delay time of outputted signal. NOTE GPIO is the VC3000's motherboard IO. Global Variables Global variables are variables defined outside all functions.
DobotVisionStudio User Guide After adding variables, you need to set relevant information of variables. In result module, you can bind data with corresponding global variables. When global variables bind with target parameters, multiple selections are supported. Global variables support initializing multiple global variables at a time of communication, as shown in the following figure. Issue V4.1.2 (2022-06-08) User Guide 36 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Communication Management Communication is an important channel connecting the algorithm platform and external devices. The algorithm platform supports both reading and writing of external data. When the communication is established, the software can send process results to the outside or trigger the camera to acquire images or operate software via strings sent by the external devices.
DobotVisionStudio User Guide Click to add communication protocol. TCP Communication TCP communication includes TCP client and TCP server. TCP Client Target Port It refers to the port No. of the TCP server. Target IP It refers to the IP address of the TCP server. Issue V4.1.2 (2022-06-08) User Guide 38 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Data Upload After enabling, data will automatically upload. Auto Reconnect After enabling, the software will automatically connect the server. Receive End Character After enabling, the software will check if terminator is received or not. If the terminator is not received in the process of receiving data, the software will continue to receive data from the buffer until the terminator is received. Send Data It is used to test if the communication is established or not.
DobotVisionStudio User Guide Auto Reconnect Receive End Character After enabling, the software will automatically connect the server. After enabling, the software will check if terminator is received or not. If the terminator is not received in the process of receiving data, the software will continue to receive data from the buffer until the terminator is received. Send Data It is used to test if the communication is established or not. Only strings are supported.
DobotVisionStudio User Guide After enabling, the software will check if terminator is received or not. If the Receive End Character terminator is not received in the process of receiving data, the software will continue to receive data from the buffer until the terminator is received. PLC Communication When using PLC communication, you need to establish the corresponding TCP or serial communication in the PLC device. Then you can create the PLC communication in Devices to establish connection.
DobotVisionStudio User Guide Timeout It is the polling timeout. Polling After enabling, the device will read information in a polling way. Data Upload After enabling, data will automatically upload. Panasonic PLC Communication Parameters Station No. Set it according to according to actual demands. Data Type It includes 16-bit and 32-bit. Soft Component Type Only D is supported. Soft Component Address It is the register address. Soft Component Size its range is between 1 and 128.
DobotVisionStudio User Guide Modbus is a master/slave protocol. One node is the master node, and the other nodes that use Modbus protocol in communication are slave nodes. Currently the algorithm platform only supports the master station. To use Modbus communication, you need to establish a communication connection first. Then you can create Modbus communication in Devices to establish connection, as shown in the following figure. Modbus supports TCP and serial ports.
DobotVisionStudio User Guide Receive Event In communication management, receiving event can analyze and configure the data received by communications to parse a piece of data into the required value. It can also reassemble the received data or customize the data and send it back to the communication device. See Communication Trigger Flow for specific cases. You can configure corresponding parameters in this interface, as shown below. Click in Receive Event List to add corresponding event. Issue V4.1.
DobotVisionStudio User Guide Create Event Process Method It includes text, byte match and script. It includes protocol parse and protocol assembly. The protocol parse is to obtain the divided Event Type data according to the delimiter via the received data, and protocol assembly is to assemble data according to a given delimiter. Currently, four types of events are available: text-protocol parse, text-protocol assembly, byte match-protocol assembly, and script.
DobotVisionStudio User Guide will not respond to the corresponding event trigger (The delimiter also represents a length). Character Length ASCII to Hexadecimal Set the character length. After the function is enabled, the software will convert data into hexadecimal type. It can convert received data into a data type according to certain rule, and compare Rule List data with configured value. Byte Start and End It sets the start and end position of byte.
DobotVisionStudio User Guide Click by Send Event List to add the receiving event. Create Event Process Method It includes text and script. Event Type It includes direct output and assembly output. Currently, three types of events are available: text-direct output, text-assembly output, and script. Text-Direct Output Bind Device Select the communication devices Delimiter Divides the received data by delimiter Issue V4.1.2 (2022-06-08) User Guide 47 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Parameter List Sets sent data and type Text-Assembly Output Bind Device Select the communication devices Parameter List Set sent data and type Delimiter Divide the received data by delimiter Assembly List Assemble sent data Script Bind Device Select the communication devices Path Select configured script files Assembly List Display data in the script Heartbeat Management You can configure the communication heartbeat in this page, as shown below.
DobotVisionStudio User Guide Response Settings You can set parameters of loading solution, flow control and camera response in Response panel. • Load solution: After the function is enabled, the software will trigger specific contents if the solution is loaded successfully. • Flow control: After the function is enabled, the software will trigger specific contents if the mode of flow is changed (busy or idle).
DobotVisionStudio User Guide Camera Response Configuration Split Symbol Trigger when Connecting Trigger when Disconnecting Select the delimiter between data and camera No. Set the contents sent by communication when the camera connects, for example A (PLC and Modbus supports sending integer data only). The content is {configured strings}{split symbol }{camera ID}. Set the contents sent by communication when the camera disconnects, for example A (PLC and Modbus supports sending integer data only).
DobotVisionStudio User Guide Click to configure event parameters. The Target Output is the running parameters of the binding module, and the Enter Settings is the input parameters of the binding module, as shown in the following figure. Trigger Settings Trigger Event It is used to trigger process or module action by subscribing corresponding Receive Event. It includes switching solution, executing process, executing module, and executing module action.
DobotVisionStudio User Guide Trigger Settings Trigger String It is used to trigger process or module action by setting characters. It includes exact match, partial match and mismatch. Exact match: Only when the software receives the same trigger string, it will trigger Match Mode actions. Partial match: If the sent strings contain trigger string, it will trigger actions. Mismatch: Any data can trigger action if mismatch is selected as match mode.
DobotVisionStudio User Guide Global script is available in controlling the running sequence of multiple flows, setting module parameters dynamically, and triggering the communication. It supports C# language, and calls C# API of DobotVisionStudio SDK. It can perform logical control of multiple flows, modify variable parameters, receive communication data, and so on. Click to open the global script window, and click to set password for it. Global script Import saved .cs files Export generated .
DobotVisionStudio User Guide Debug Global Script via Visual Studio 1. Click to open the directory of the global script, and open GlobalUserScript.sln with Visual Studio. Set the breaking point in the program and generate a solution. 2. Add the global script to the process and click Attach. 3. Click Once in DobotVisionStudio to check whether it runs to the breaking point. Issue V4.1.2 (2022-06-08) User Guide 54 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide The result is as follows after you click Once. If it enters the breaking point, the global script can be debugged by VS. Add Assembly Click to open reference assembly, as shown below. You can click Add to add other assembly according to actual demands. NOTE Only C# assembly can be added. Issue V4.1.2 (2022-06-08) User Guide 55 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Click Add in the upper right corner to dynamically add assemblies as required. Only C# assemblies are supported. Find the.dll you want to add in the path of the third-party assemblies. You can call it in the global script after adding. Usage The global script supports calling the C# version of the algorithm platform SDK. For specific interface function, refer to DobotVisionStudio Algorithm Platform SDK User Manual.
DobotVisionStudio User Guide Output paramValue float variable value Returned Value Success: 0; Failure: error code excluding 0 Description Get string type variable value of global variable.
DobotVisionStudio User Guide Communication related interface: Description Initialize global communication. Function bool StartGlobalCommunicate () Returned Value Success: true; Failure: false Description Register communication receive event Function Void UnRegesiterReceiveCommunicateDataEvent () Returned Value None Description Cancel communication receive event. Function Void RegesiterReceiveCommunicateDataEvent() Returned Value None Description Communication data receive event.
DobotVisionStudio User Guide Interface Configuration Click to open the front running interface, then enter the editing interface, as shown below. Tool bar Click it to open saved ones. Save the operation interface you edited. It includes in the top, up, bottom and next layer of the editing area. It is used to align multiple function tools in the editing area, Press Ctrl and select multiple function tools to align them. Cancel and undo cancellation. Delete function tools.
DobotVisionStudio User Guide It is used to control the operation of all flows and single flow. It is used to display operation status of flows It is used to display the operation result of flows: OK or NG. Auxiliary Line Displays effects and results. / / / / / / It is recommended to link data and Format String display text. Data type includes string, int and Data Type It is used to customize text and link with output data. float. It refers to the data source of Data Source displayed text.
DobotVisionStudio User Guide management and communication management. It is used to enable or disable switch. It is used to adjust operation parameters. It is used to adjust values in variable calculation. It is used to adjust operation parameters and global variable. It is used to display the status of configured modules. Data Source Data Source Data Source Data Source Data Source It can link controllers with switch. It needs to link with int or float type operation parameters.
DobotVisionStudio User Guide Display the coordinate information of the cursor location on the image. Display the R/G/B information of the cursor location on the image. NOTE You can click to top the operation interface. You can click to lock the operation interface. Export Program Exporting program can reduce the occupation of resources, and it supports secondary development. You can click Export to export, as shown below.
DobotVisionStudio User Guide The specific information of program for exporting exe and vmCodeProject are as follows: Public_Release files include main program files, as shown below. Data Queue Issue V4.1.2 (2022-06-08) User Guide 63 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide The queue is a first-in-first-out linear table. Its end that allows insertion is called the tail of the queue, and the other end that allows deletion is called the head. Click in DobotVisionStudio to enter the interface of multi-flow, and drag to set up one or multiple data queues. Data queue No. Queue index Data Type It includes int, float and string. Queue Name It refers to the name of queues. Queue Cache Row Number It refers to the max. quantity of queues.
DobotVisionStudio User Guide When multiple processes send data to the data queue for comprehensive processing, to ensure that the order of data combination is not disrupted, the data cannot be taken out if any of the queue is blank. Flow Time The software supports recording time consumed in tool operation and algorithm operation. You can go to the home page of the software, and click as shown below.
DobotVisionStudio User Guide You can click Magician in the upper left to select CR or MG400/M1Pro, as shown in the figures below. Issue V4.1.2 (2022-06-08) User Guide 66 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Issue V4.1.2 (2022-06-08) User Guide 67 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Issue V4.1.2 (2022-06-08) User Guide 68 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Vision Tools The software supports multiple vision tools. You can directly drag the tools needed from the tool box. The vision tools have different categories, including acquisition, location, measurement, image generation, recognition, deep learning, calibration, calculation, image processing, color processing, defect detection, logical tools and communications. Acquisition You can set image sources and save images through acquisition.
DobotVisionStudio User Guide the module to set parameters, which mainly include pixel format, fetch interval, solution-saved images and trigger settings. Basic Parameters Pixel Format The pixel format can be set to Mono8 or RGB24. Fetch Interval You can set the time interval between two image fetches and the unit is ms. Solution-saved Image You can set whether to save the local images when saving solutions. Auto Switch Switch to the next image automatically after enabling auto switch.
DobotVisionStudio User Guide Before selecting Camera in the image source, you can click in the toolbar to create global camera. Refer to Camera Management for details. Input Configuration Image Source It can be set as local image or camera image. Associated Camera If the Image Source is set as camera, the corresponding global camera can be associated. Fetch Intervals You can set the time interval between two image fetches and the unit is ms.
DobotVisionStudio User Guide Illumination Angle As shown in the figure (Refers to the erection of the camera.) NOTICE ⚫ Set the common parameters of the camera when stopping the preview. It is recommended to adjust the parameters on the MVS client before synchronizing them to the VisionMaster client. ⚫ Only cameras that support multicast can obtain stream in real time Image Output Drag the Image Output module to the process editing area. Double click and configure the corresponding parameters.
DobotVisionStudio User Guide Output Image Input Source Select the saved image source, mainly including images from image source in the solution or images processed by other modules. Save Image Enable It is off by default, at this time, the output image module only realizes the function of output image, and the specific parameters of the module can be configured by opening save image enable. At the same time, the image can be stored.
DobotVisionStudio User Guide set value, it will be stored according to the mode set by the storage mode. Storage Unit Optional MB or GB. Max. Storage Days Set the time of automatically deleting the storage images. Save Format BMP and JPEG File Naming You can customize the prefix or set module data as the prefix before subscription, and the serial number of date as the suffix, such as IMG-1. The naming format will change with the module status when adopting trigger saving image, such as IMG-OK-1.
DobotVisionStudio User Guide Light Source Refer to Controller Management for light source creation. After the light source is successfully created, you can directly call the light source in the module of process. ⚫ ⚫ Set Light Source to be Constant: Enable the light source, adjust the brightness and put the light source module in front of the light source module. Set Light Source to be Strobe: Put one light source module in front of and behind the light source respectively.
DobotVisionStudio User Guide Channel Parameters Output Type It is optional to output when OK and when NG. Trigger Character It refers to whether the subscription module status triggers the light source. OK or NG can be input manually according to the output type. Trigger Time Duration of constant light source after trigger.
DobotVisionStudio User Guide Feature Match Overview Feature matching is divided into fast match and high-precision match. This tool uses the edge features of the image as the template, confirms the search space in accordance with the preset parameters, and searches targets that are similar to the template among images. This tool can be used for locating, calculating and verifying. Double-click feature matching module to set parameters.
DobotVisionStudio User Guide High-precision match has higher precision and more refined setting features, but it consumes longer time than fast match, as shown below. Algorithm Principle Template matching refers to the handling method of searching the corresponding mode in an image. At a word, the template is a known and small image, and template matching means searching the target in the big image, as shown below. Fast Match 1. Feature Template The feature template is used to extract image features.
DobotVisionStudio User Guide The shortcuts shown in area 4 mean moving image, creating fan circle mask, creating rect mask, creating polygon mask, selecting model match center, building model, erasure contour point, clearing all model ling area, undo and back from left to right. Template Match • Match Point: it is used to create location standard. Click Select Model Match Center, and set match point by yourself. • Scale Mode: when its auto mode can meet demands, it will not adjust.
DobotVisionStudio User Guide It is used to set parameters of feature match in order to set search space. The targets in specific search space can be searched only, as shown below. (1) Basic Parameters • All Search Mode: all the templates are matched after enabling and output the optimal results. • Min. Match Score: the match score means the similarity between feature template and target in searched images. It is also called as similarity threshold.
DobotVisionStudio User Guide • - Sort by X from small to large: the current result has the X coordinate of the matching box center. According to the X coordinate, the order is rounded up from small to large. When the X coordinates are the same, then is sorted by Y from big to small, and the Y axis has the same operation with X axis. - X is from small to large, and Y is from small to large too: the current result has the matching box center X/Y coordinates.
DobotVisionStudio User Guide • Timeout Control: When the time exceeds the time set by the overtime control, the search will stop and no search result will be returned. The value range of overtime control is 0 ms to 10000 ms, and 0 means that the overtime control is disabled. • Contour Enabled: if contour enabled is enabled, the contour feature points of the template are displayed.
DobotVisionStudio User Guide • Score: match score. High-Precision Match 1. Feature Template The feature template of high-precision match is similar to that of fast match. Create the feature template in accordance with the specific methods of fast match above, and the specific parameters are listed as below. Template Match • Match Point: it is used to create location standard. Click Select Model Match Center, and set match point by yourself.
DobotVisionStudio User Guide • Scale Range: it means scale changing range when comparing the target and created template. If you want to search the target with same scale changing, and then you need to set respectively, and the default range is 1.0 to 1.0. (2) Advanced Parameters • Max. Overlap Threshold: when searching for multiple targets, two detected targets overlapping with each other, and the maximum overlap ratio allowed by the matching frames is overlap threshold.
DobotVisionStudio User Guide 3. Output Results • Matching Box Center X: X coordinate of matching box center. • Matching Box Center Y: Y coordinate of matching box center. • Matching Point X: X coordinate of matching point. • Matching Point Y: Y coordinate of matching point. • Angle: it is the same as the output angle of fast feature match, you can refer to fast feature match. • Scale: the consistency scale change multiple of the matching target relative to the created template.
DobotVisionStudio User Guide - • Numb Level: Use the template to build the highest numb level, the higher level, the faster search speed and larger match missing probability. However, the numb level is not recommended to be below 3, the defaulted value is 5 and the range is from 1 to 8. Run Parameter - Min. Match Score: Match score (similarity threshold) refers to the similarity between the feature template and the target searched in the image.
DobotVisionStudio User Guide NOTICE The cross mask includes the hollow cross and solid cross. Select mask graphic according to the shape of graphic and the edge of detected graphics must be included in the blue area of drawing ROI when you draw the cross/rectangular ROI. Feature Template You can extract the image features by creating the feature template. For initial template configuration, you need to click New Model, as shown below. 1.
DobotVisionStudio User Guide • Location Mode: Fast location and high precision location can be selected, and the selection basis refers to feature match. • Scale Mode: it includes auto mode and manual mode. When its auto mode can meet demands, it will not adjust. If not, it will switch to manual mode. • Roughness scale: the higher the roughness scale parameter, the greater feature scale, and its respective edge points will be sparse.
DobotVisionStudio User Guide • Angle Range: it means the angle changing range when comparing the target and created template. If you want to search the proactive target, and then you need to set respectively, and the default range is -90° to 90°. • Scale Range: it means scale changing range when comparing the target and created template. If you want to search the target with same scale changing, and then you need to set respectively, and the default range is 1.0 to 1.0.
DobotVisionStudio User Guide • Contour Enabled: if contour enabled is enabled, the contour feature points of the template are displayed. If it is disabled, the feature points are not displayed, and only the matching frame is displayed, which can reduce operation time. Results Display You can set several judgment conditions of the results in Results Display. • Quantity Judgment: After opening, you can set the quantity range of matching results.
DobotVisionStudio User Guide • - Strongest Edge: only the edge point set with the largest gradient in the scanning range is detected and fitted into a circle. - Last Edge: only the edge point set with the largest distance from the center of the circle within the scanning range is detected and fitted into a circle. - First Edge: only the set of edge points with the smallest distance from the center of the circle within the scanning range is detected and fitted into a circle.
DobotVisionStudio User Guide • Subsampling Coefficient: it is also called downsampling, which means that the number of sampling points is decreased. For an image of N*M, if the subsampling coefficient is K, then one dot is taken every K points of each row and column in the original image to create an image. Therefore, the larger the subsampling coefficient, the more sparse the contour points will be, and the less detailed contour will be. It is recommended that the value should not be set too large.
DobotVisionStudio User Guide Running Parameter • • Edge Type: It includes strongest edge, last edge and first edge. - Strongest Edge: find the edge point group with the largest gradient threshold, and then fit it into a straight line. - Last Edge and First Edge: find the first / last line that meets the condition. Edge Polarity: it has three polarities, including dark to light, light to dark and any. • Edge Threshold: The edge threshold is the gradient threshold, ranging from 0 to 255.
DobotVisionStudio User Guide • Initial Fit: Refer to Find Circle. • Fit Mode: Refer to Find Circle. Output Result • Starting Point X/Y: X and Y coordinates of the starting point of the line • End Point X/Y: X and Y coordinates of the end point of the line • Line Angle: The angle of the line relative to the horizontal line • Fit Error: The RMS error calculation method is adopted for the straight line fit error.
DobotVisionStudio User Guide • Threshold Mode: When the input image is a binary image, it is optional to not execute binarization. In other cases, there are five options, including single threshold, double threshold, auto threshold, soft threshold (fixed) and soft threshold (relative). - Single threshold: 1. darker than background: [0, low threshold -1] blob target of gray value is detected. 2. lighter than background: [low threshold, 255] blob target of gray value is detected.
DobotVisionStudio User Guide - Major and minor axis: the length and width of the smallest area of circumscribed rectangle, as shown below. - Circularity and rectangularity: the similarity to a circle or rectangle. - Barycenter offset: absolute pixel offset between Blob barycenter and center of circumscribed rectangle of Blob minimum area. - Axis ratio: short axis and long axis of box.
DobotVisionStudio User Guide - Specific filtering method: if the minimum overlap rate is set to 50, and the blob area inside the ROI is less than 50% of its overall area, it will be filtered in the result, and the filtered Blob will not be displayed in the result. - This parameter can be set to 100 if it is pasted with ROI, that is, it is not regarded as the target drawing Running Result • Total Area: sum of all Blob areas in the obtained results. • Area: the area of a Blob in the obtained results.
DobotVisionStudio User Guide Running Parameter • Edge Mode: it includes single edge and edge pair modes. - Single edge mode detects the edge position in the specific area and can be used to locate, count and verify the presence or absence. - Edge pair mode detects edge spacing in a specific area. • Filter Size: it is used to enhance the edge and suppress noise, and its minimum value is 1.
DobotVisionStudio User Guide - From top to bottom means that the edge point is searched in the left and right direction relative to the search ROI. If the search ROI is rotated by 90°, and then the edge point is searched from bottom to top direction. - Left to right means that the edge point is searched in the top and bottom direction relative to the search ROI. If the search ROI is rotated by 90°, and then the edge point is searched from left to right direction.
DobotVisionStudio User Guide descending and ascending. The target edge point has the highest score by setting these six parameters. • Edge pair mode - Normalized Position Score Enable: it is scored by the absolute position difference of the edge or edge pair center relative to the center of the ROI area. The denominator of normalization is the edge pair width.
DobotVisionStudio User Guide • Filter Size: it is used to enhance the edge and suppress noise, and its minimum value is 1. When the edge is blurred or there is noise interference, you can increase its value to make the detection result more stable. If the distance between the edge and the edge is smaller than the filter size, it will affect the accuracy of the edge location or even lose edge. This value needs to be set based on the actual situation.
DobotVisionStudio User Guide Fiducial point and fiducial frame are the match point and match frame when you create the reference. Running point and running frame are the match point and match frame when the target image is matching with features. The pixel deviation of image can be determined according to fiducial point and running point, and angle deviation can be determined according to fiducial frame and match frame. Thus, the ROI area can keep up with the changing of image angle and pixel.
DobotVisionStudio User Guide There are two ways to correct position: position correction by point and position coordinate by coordinate. For by point, the position of the point has been determined. For by coordinate, X and Y are used to determine the position of the point. Please note that whether for a point or a coordinate, its position information is transmitted from the previous module, and its role is to determine the pixel and angle deviation.
DobotVisionStudio User Guide Rect Search The tool of rect search is used to detect the rectangle in the target image. The basic parameters and result display have been explained in Tool Application, and running parameters have been explained in previous sections. This section displays a solution, as shown below. Detection Parameter Issue V4.1.2 (2022-06-08) User Guide 104 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide • Edge Pair Type: see Spacing Detection for details. • Edge Polarity: it has three polarities, including dark to light, light to dark and any. • Edge Threshold: The edge threshold is the gradient threshold, ranging from 0 to 255. Only edge points whose edge gradient threshold is greater than this value are detected. The larger the value is, the stronger the anti noise ability is, the less the number of edges is, and even the target edge points are screened out.
DobotVisionStudio User Guide • Filter Size: it is used to enhance the edge and suppress noise, and its minimum value is 1. When the edge is blurred or there is noise interference, you can increase its value to make the detection result more stable. If the distance between the edge and the edge is smaller than the filter size, it will affect the accuracy of the edge location or even lose edge. This value needs to be set based on the actual situation.
DobotVisionStudio User Guide • Edge Type: it has the strongest, the first and the last edge. • Edge Polarity: it has three modes, including dark to light, light to dark and any. • Edge Threshold: The edge threshold is the gradient threshold, ranging from 0 to 255. Only edge points whose edge gradient threshold is greater than this value are detected. The larger the value is, the stronger the anti noise ability is, the less the number of edges is, and even the target edge points are screened out.
DobotVisionStudio User Guide • Edge Pair Type: see Spacing Detection for details. • Edge Polarity: it has three modes, including dark to light, light to dark and any. • Edge Threshold: The edge threshold is the gradient threshold, ranging from 0 to 255. Only edge points whose edge gradient threshold is greater than this value are detected. The larger the value is, the stronger the anti-noise ability is, the less the number of edges is, and even the target edge points are screened out.
DobotVisionStudio User Guide The tool of quadrilateral search is used to find linear edges in the specified quadrilateral areas. After the function is enabled, the system outputs the start point and end point information of lines, and the central point information of the quadrilateral. Running Parameters • Select Edge: It is used to select the edge 0, 1, 2, 3, and set its corresponding parameters after selecting the edge.
DobotVisionStudio User Guide Line Group Search With the tool of line group search, you can find out multiple lines, and generate multiple edge points. Then, the multiple edge points generated are combined to a line. It supports creating multiple ROI areas and multiple sets of parameters, as shown follow. Multi-line Search With the tool of multi-line search, you can find out multiple target lines in one image. The related information of these multiple lines may also be output in the result.
DobotVisionStudio User Guide take more time to execute the tool. A higher value can improve the execution speed of the tool, but the edge of the tool you want to find may not be detected. It is generally recommended that this value be at least as large as the set filter size. • Absolute / Relative Edge Threshold: Only edge points whose edge gradient threshold is greater than the extraction threshold are detected.
DobotVisionStudio User Guide Basic Parameters • Category Name: It is usually used with DL image segmentation. Subscribe to the category name of DL image segmentation, or manually output a group of category names. • Gray Value: It is usually used with DL image segmentation. Subscribe to the gray value of DL image segmentation, or manually output a group of gray value. Running Parameters • Number of Fund Blobs: it is used to set the number of Blob graphs to find.
DobotVisionStudio User Guide • Min. Overlap Rate: - This parameter is used to filter Blob and filter out some Blob intersecting ROI. - Specific filtering method: if the minimum overlap rate is set to 50, and the blob area inside the ROI is less than 50% of its overall area, it will be filtered in the result, and the filtered Blob will not be displayed in the result. - This parameter can be set to 100 if it is pasted with ROI, that is, it is not regarded as the target drawing.
DobotVisionStudio User Guide The main steps of path extraction are as follow: 1. Double-click the Path Extraction module. Select ModelSettings, and click Edit Model as follow: Issue V4.1.2 (2022-06-08) User Guide 114 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide The image selected when you configure the template should be consistent with the image selected when you create the feature matching template. Use path to be extracted. Click and to draw the polyline and arc to generate model, and finally click OK to complete the template. NOTE You can draw multiple paths and set their corresponding parameters according to actual demands. You can also change the order of the paths.
DobotVisionStudio User Guide the value is, the stronger the anti noise ability is, the less the number of edges is, and even the target edge points are screened out. ⚫ ⚫ ⚫ ⚫ Caliper Height: Find ROI at several edge points of ROI distribution. This value describes to scan edge points to find the area height of ROI. When the edge search is not accurate, the value can be increased appropriately. Caliper Width: Increasing this value within a certain range can obtain more stable edge points.
DobotVisionStudio User Guide Drag the Find Angle Bisector module to the process editing area. Complete the connection with other modules and ensure that other relevant modules have been connected with the module before, such as Line Search. Steps: 1. Double-click Find Angle Bisector module to enter the parameter edit window as shown below. 2. Select the image data source in Input Source 3. Subscribe the input source of Line 1 and Line 2 respectively.
DobotVisionStudio User Guide Find Median Line The Find Median Line module is used to find the median points of the start point and the end point of the two lines respectively, and generate the median line according to the two median points. Prerequisite: Drag the Find Median Line module to the process editing area. Complete the connection with other modules and ensure that other relevant modules have been connected with the module before, such as Line Search. Steps: 1.
DobotVisionStudio User Guide 2. Select the image data source in Input Source 3. Subscribe the input mode for Line 1 and Line 2 respectively. There are three kinds of input modes: by line, by point and by coordinate. • By Line: Directly subscribe a line from the module results of the previous module. • By Point: Need to subscribe two points from the module results of the previous module as the start point and end point of the line.
DobotVisionStudio User Guide 1. Double-click Calculate Parallel Lines module to enter parameter edit window. 2. Select the image data source in Input Source. 3. Select the method of finding vertical lines in Calculation Method according to the actual situation. There are two methods. • A point outside the line: Obtain the parallel line of the selected line based on the selected point.
DobotVisionStudio User Guide NOTE The subscription method of lines and points is similar to that of the find angle bisector module. See Find Angle Bisector for details. 6. Switch to Result Display of the module and set the specific module, color and transparency of the image. 7. Click Execute or Continue to view the operation results as shown below. The following figure shows the operation results when a distance from the line is selected. Issue V4.1.
DobotVisionStudio User Guide Find Vertical Line The find vertical line module can find the point-crossing vertical line or perpendicular bisector. Prerequisite: Drag the Find Vertical Line module to the process editing area. Complete the connection with other modules and ensure that other relevant modules have been connected with the module before, such as Line Search. Steps: 1. Double-click Find Vertical Lines module to enter parameter edit window. 2. Select the image data source in the Input Source. 3.
DobotVisionStudio User Guide 5. When selecting Perpendicular Bisector in Verticalline Type, you need to subscribe the data sources of line input only. NOTE The subscription method of lines and points is similar to that of the find angle bisector module. See Find Angle Bisector for details. 6. Switch to Result Display and set the specific module, color and transparency of the image. 7. Click Execute or Continue to view the operation results as shown below.
DobotVisionStudio User Guide Measurement L2C Measure The tool of L2C measurement returns the vertical distance and the intersection coordinate of the line and the circle in the image. This tool finds the line and the circle in the image of the object to be measured first, as shown below. When you select subscription mode, the specific data input is described as follows. The specific steps of line circle measure are described as follows: Steps: 1.
DobotVisionStudio User Guide to connect the above-mentioned modules successively, and click Run Once to complete the solution creation, as shown above. 2. After finding the target circle and line respectively, and set line input and circle input. There are several ways to input line and circle, as shown below. - By line or circle: select the result of finding line and circle for input source. - By point: you can customize or link the start point, end point and angle of the line.
DobotVisionStudio User Guide 4. Output Result:angle between line circle connecting line and horizontal line, the vertical distance between the line and circle, intersection point coordinate of the line and the circle, and projection coordinate of circle center. 5. Running Parameter: the running parameters are valid only when the data source selects the drawing input mode, invalid when the subscription input mode is selected . 6. Select Type: Select an object, line or circle, to configure parameters.
DobotVisionStudio User Guide • Fit Mode: It has three types, including least squares, huber and tukey. The three fitting methods only have some differences in the calculation of weight. With the increase of the number of outliers and the distance of outliers, the least squares, Huber and Tukey can be used step by step. Select Circle for Type • • Edge Type: - Strongest Edge: only the edge point set with the largest gradient in the scanning range is detected and fitted into a circle.
DobotVisionStudio User Guide • Circle Locating Sensitivity: it is used to eliminate the interference points. The larger the value, the stronger the ability to eliminate noise interference, but it is also easy to cause the initial location of circle failure. • Distance to Remove: It means that the maximum pixel distance from the outlier to the fit circle. The smaller the value, the more points are excluded. • Initial Fit: It has two types, including global and partial fit.
DobotVisionStudio User Guide • By Line: inputting source is the result of finding line. • By Point: you can customize or link the start point, end point and angle of the line. • By Coordinate: you can customize or link the X/Y coordinate of the line's start point, and end point. • Running Operation: see L2C Measure for details. L2L Measure Results • By Angle: the angle difference between two lines. • Distance: the average distance from four end points of the line to another line.
DobotVisionStudio User Guide • Standard Deviation: The standard deviation is the arithmetic square root of the variance. The standard deviation can reflect the dispersion of a data set. • Contrast: Contrast is a relative value. For a picture, it reflects the ratio of the brightest part to the darkest part of the picture. Pixel Count Count the number of pixels that meet the high and low threshold grayscale setting in the ROI area, as shown below.
DobotVisionStudio User Guide Running Parameter • Filter Size: it is used to enhance the edge and suppress noise, and its minimum value is 1. When the edge is blurred or there is noise interference, you can increase its value to make the detection result more stable. If the distance between the edge and the edge is smaller than the filter size, it will affect the accuracy of the edge location or even lose edge. This value needs to be set based on the actual situation.
DobotVisionStudio User Guide • Not Closest: represents the set of edge pairs not closest to the ideal width within the detection scanning range. • All: represents all edge pairs within the detection scanning range. • Find Direction: it includes top to bottom and left to right. • Min. Edge Score: find the minimum score of the edge. The edge with a score lower than the minimum score will be filtered out. • Max.
DobotVisionStudio User Guide • Min./Max. Value: Min./Max. grayscale value • Mid-value, Peak Value, Average Value: Mid-value, Peak Value, Average Value of grayscale • Standard Deviation: The standard deviation is the arithmetic square root of the variance. The standard deviation can reflect the dispersion of a data set. • Pixel Quantity: count pixel quantity in the image • Contrast: Contrast is a relative value.
DobotVisionStudio User Guide Distance to Remove Initial Type It means the maximum pixel distance from the outlier to the fit circle. The smaller the value is, the more points are excluded. It includes global optimum and local optimum It has three types, including least squares, huber function and tukey function. These three Weighting Function fitting modes are different in way of calculating the weight only.
DobotVisionStudio User Guide Geometry Creation Create Rectangle Create Point Drag the mouse to draw on the image, and move or modify the X, Y coordinates, width, height, and angle of the center point. This tool can be used with position correction tool Click on the image with the mouse to create point, and then move or modify the X and Y coordinates, which can be used in conjunction with position correction Drag the mouse on the image to create a line.
DobotVisionStudio User Guide 2D BCR Recognition The tool of 2D BCR recognition is used to identify the 2D code in the target image, and output 2D code information in the form of characters. It can efficiently and accurately identify multiple 2D codes at a time. Currently, only QR code and DataMatrix code are supported, as shown below. Recognition Parameters: • QR Code and DM Code: after enabling, the software can recognize QR code and DataMatrix code in the image.
DobotVisionStudio User Guide codes that appear, you should set this parameter as the max. quantity of 2D codes in the scene. In some applications, the background texture is complicated, and the current parameters can be appropriately larger than the quantity of 2D codes to be recognized, which will reduce efficiency. • Polarity: it has three types, including dark on white, white on dark and any. you can select them according to your demands.
DobotVisionStudio User Guide BCR Recognition The tool of BCR recognition is used to locate and identify the bar code in the specified area, and tolerate the target barcode to rotate at any angle and tilt at a certain angle. It supports CODE39 code, CODE128 code, Codabar code, EAN code, alternating 25 code and CODE93 code. The specific operation is shown below. Recognition Parameters: • Code Enabling: it supports CODE39 code, CODE128 code, Codabar code, EAN code, alternating 25 code and CODE93 code.
DobotVisionStudio User Guide The tool of OCR recognition is used to read the character text on the label. This tool requires character training. The specific steps are shown below. 1. Drag the character recognition module in to the flow editing area and set relevant parameters after double-click. 2. Set parameters before character training. Running Parameters: • Character Polarity: it has two types, including dark on light and light on dark. • Character Width Range: it is used to set the min.
DobotVisionStudio User Guide • Click Train Characters. Complete the training by inputting the true values of the corresponding characters and adding them to the character library. If the recognition is inaccurate, you can repeat the training. Select a single character in the character library and click to expand the training of a single character, as shown in the figure below. Issue V4.1.2 (2022-06-08) User Guide 140 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide 4. In order to improve the accuracy of recognition, you can enable character filtering. Now only the character types you set are recognized in the corresponding positions, as shown in the following figure. Issue V4.1.2 (2022-06-08) User Guide 141 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide When character filtering is enabled, you can customize the number of recognized characters and the type of each character, including all, numbers, uppercase letters, lowercase letters, special characters, spaces, customization, etc. You can define characters that are easy to be misunderstood through Customize, but only if the customized characters exist in the character library. 5. Click Run to output the target character in the image.
DobotVisionStudio User Guide • Basic Parameters: In this setting, the ROI area where the target character is located must be selected. When the graphic position changes, it is best to use it in conjunction with character positioning. • Running Parameters: The settings are as following: • Model File Path: The model file provides a default model, and you can also load the model file created by the previous character training.
DobotVisionStudio User Guide • Character Filtration: Each ROI supports setting character filtration independently When character filtering is enabled, you can customize the number of recognized characters and the type of each character, including all, numbers, uppercase letters, lowercase letters, special characters, spaces, customization, etc. You can define characters that are easy to be misunderstood through Customize, but only if the customized characters exist in the character library. • Min.
DobotVisionStudio User Guide DL code reading module is divided into DL code reading C and DL code reading G. They need different operating environments but have the same parameters and functions. Therefore, you can select according to your own computer configuration. Level Running Parameters of 2D BCR: • ISO Standard: ISO15415 and ISO29158, select according to demands. • Mirror Mode: mirror image refers to the image in X-direction mirror image.
DobotVisionStudio User Guide • Aperture Size: it is filter size, it is more obvious to increase the filter effect, and the default value is recommended. NOTICE ⚫ There is no quantitative correlation between the timeout exit time and the algorithm time at the bottom of the interface. The timeout time represents the time when the algorithm locates and reads the code in the image. ⚫ DL code reading library supports the upper limit of 7936 * 5888 pictures.
DobotVisionStudio User Guide Min. Confidence Overlap Rate Sort Object It refers to the min. score for the character location box. The default is 0.3 and the range is [0, 1]. It refers to the overlap rate of character location boxes, the default is 0.3 and the range is [0.01, 1] It refers to the sorting order of characters, including by X/Y coordinate of center point, and by confidence. Advanced Parameters After the function is enabled, the minimum edge score can be set.
DobotVisionStudio User Guide Running Parameters: • Model File Path: Select the model file created by the previous character training. • Saving Model in Solution: After enabling, save the model data to the solution file or process file. When loading a solution across machines, you do not need to enter the model file path. • Character Filtration: Each recognition frame can set customized character filter information. Refer to Character Recognition for details. • Max.
DobotVisionStudio User Guide Deep Learning is a machine learning algorithm, which is developed based on the traditional neural network. With a deep learning module, the machine can absorb, learn, understand and handle complex information in the real world as human beings.
DobotVisionStudio User Guide For defects, the pixel value is high, and most of the interference can be removed through subsequent processing or secondary training. The image on the right side of the above figure is the defect probability diagram of image segmentation. • Multi-level Classification Mode For defects, the pixel value is high, and most of the interference can be removed through subsequent processing or secondary training.
DobotVisionStudio User Guide and classifies each pixel or area in an image into several categories so as to replace human beings' visual judgment. It has been widely applied into object recognition and sorting. The specific processes are as follow. Running Parameters Model File Path Saving Model in Solution Top-K Categories Select the model file created by the previous character training. After enabling, save the model data to the solution file or process file.
DobotVisionStudio User Guide • Model File Path: Select the model file created by the previous character training. • Saving Model in Solution: After enabling, save the model data to the solution file or process file. When loading a solution across machines, you do not need to enter the model file path. • Max. Number to Find: It refers to the max. quantity of objects to be searched. • Min. Confidence: It refers to the min. score for target objects. • Overlap Rate: It refers to the max.
DobotVisionStudio User Guide ⚫ ⚫ ⚫ ⚫ Select the image to be trained, use the VisionTrain to train the image marking, and divide the image types in the image set. See the user manual of VisionTrain for specific training methods. Import the model trained by VisionTrain into the running parameter model file path of DL module, as shown in the following figure.
DobotVisionStudio User Guide If Gallery file is not found in this folder, DL image retrieval supports self creation of files. The specific methods are as follows • Click Register to enter the following interface: • Select Register by Image to register a type. Fill in the category name and click + to add image and click Register. You can only register one type using the method. • Select Register by Folder to register multiple types, as shown in the following figure: Issue V4.1.
DobotVisionStudio User Guide • Click to select a folder and then click Register. Place Images of the same category in the folder and name it as the category name. DL Anomaly Detection DL anomaly detection is to detect exceptional pictures by learning from a few OK samples. It can be used to the scenario that there are a large number of OK samples, but no NG samples or few types of NG samples and the defect type is uncertain. The image with obvious detects is shown in the figure below.
DobotVisionStudio User Guide In this setting, you need to draw the ROI area where the defect is located. Running Parameters: • Model File Path: Load the model file created by the previous training. • Saving Model in Solution: After enabling, save the model data to the solution file or process file. When loading a solution across machines, you do not need to enter the model file path.
DobotVisionStudio User Guide Running parameters Model File Path Save Model Data Select the model file created by the previous training. After enabling, save the model data to the solution file or process file. When loading a solution across machines, you do not need to enter the model file path. Max. Number to Find It refers to the max. quantity of targets for target detection. Min. Confidence It refers to the min. score for the position box. Overlap Threshold The max.
DobotVisionStudio User Guide Basic Parameters of Camera Mapping Input Mode It includes by point or by coordinate. Demonstrate Point-Run Select demonstration point and run point. You need to select 2 pairs at least and 8 Point pairs at most.
DobotVisionStudio User Guide The rotation angle (in radians) of the coordinate system where the demonstration point is located relative to the coordinate system where the running point is located. When the rotation θ is a positive value, after the X axis of the coordinate system where the Rotate demonstration point is located rotates θ counterclockwise, its X axis is consistent with the X axis of the coordinate system where the running point is located.
DobotVisionStudio User Guide • Create Calibration File: select the creating calibration file storage path. • Calibration File Path: the absolute path of the calibrate file. If the file exists in this path, it will be loaded. If it does not exist, it will fail to load and an error will be reported when running. • Update File: After a round of calibration is completed, if the update file control is enabled, the new round of calibration will update the calibration results to the calibration file.
DobotVisionStudio User Guide translation. The three parameters correspond to perspective transformation, affine transformation and similarity transformation respectively. • Grayscale Contrast: it refers to the min. value of contrast between adjacent black-andwhite squares in a checkerboard image, it is recommended to use default value. • Subpixel Window: this parameter indicates whether to adaptively calculate the window size of corner sub-pixel accuracy.
DobotVisionStudio User Guide ⚫ Check whether the calibration type in the basic parameters is set correctly. ⚫ Check whether the parameter setting is reasonable. For checkerboard calibration, check whether the gray contrast is high. If so, you can change the sub-pixel window from adaptive to the set value, and set the window size to about checkerboard pixel width/10.
DobotVisionStudio User Guide Taking lower camera alignment as an example, N-point calibration is executed by the camera that is driven by the mechanical arm to move in the direction set by the parameter. Each movement will trigger the camera to capture a picture. At this time, the calibration module in the solution is synchronously calibrated. At last, the calibration file is created. The specific parameter settings are shown below. Issue V4.1.
DobotVisionStudio User Guide Basic Parameters: • Calibration Points Acquisition: Select trigger acquisition or manual input. • Calibration Points Input: Select by point or by coordinate. • Image Point: The calibration point of N-point, and points of other modules can be subscribed. • Physical Point: Coordinate point of the robot arm. An image point on the VM image corresponds to a physical point of the robot arm. (It is recommended not to subscribe, but to generate automatically.
DobotVisionStudio User Guide In the image above, movement is made towards X or Y direction for 9 times, and rotation is made towards other direction for 3 times, offset is 5. It is X axis movement first and the times of changing direction movement is 3. • Use Relative Coordinates: The default state is off. After enabling, the calibration original point size can be configured. • Calibration Origin: It is generally set to 4, because it is counted from 0, so it is the middle point.
DobotVisionStudio User Guide value, the stricter the point set selection will be. When the point group's accuracy is not high, this threshold can be appropriately increased. It is recommended to use the default value. • Sampling Rate: it is the parameter setting item when Ransac weight function is selected. When the point group's accuracy is not high, the sampling rate can be appropriately reduced. It is recommended to use the default value.
DobotVisionStudio User Guide In the coordinate system, the rotation angle from the X positive direction to the Y positive direction is positive, and vice versa, as shown in the following figure. Distortion Calibration The tool of distortion calibration is used to calibrate calibration board images that have distortion by inputting gray scale calibration template image. It generates calibration file, outputs calibration error and calibration status, as shown below. Issue V4.1.
DobotVisionStudio User Guide Parameters: • Correction Point Input: it includes By Point and By Coordinates. • Correction Center Point: It refers to center point coordinate of perspective distortion correction. When “Input by Point” is selected, you can link the data of the previous module. When "by coordinate" is selected, the X and Y coordinates of the correction center need to be customized.
DobotVisionStudio User Guide • Weighting Coefficient: it is the parameter setting item when Tukey or Huber weight function is selected. It is the clipping factor of the corresponding method and recommended to use the default value. Mapping Calibration With the tool of mapping calibration, you can convert coordinates of different coordinate systems. Only the self-developed calibration board is supported. See CalibBoard Calibration for the generation method of the calibration board.
DobotVisionStudio User Guide The angle of the current pose manipulator is generally obtained from an external World Rotate Angle device, and the rotation consistency and left-handed coordinate system can be obtained through related calculations. You can select one from physical angle and physical coordinate. Demonstration External Input Character After enabling it, the software can identify whether the external signals are demonstration signal or not. It can subscribe signals of external devices.
DobotVisionStudio User Guide Current Angle Point Quantity Input the number of corner points extracted in image 1. Target Angle Point Quantity: Input the number of corner points extracted in image 2. Mapping Angle Point The number of corner points extracted from image 1 that can be mapped to Quantity image 2.
DobotVisionStudio User Guide Basic Parameter Description • Update File: After a round of calibration is completed, if the update file control is enabled, the new round of calibration will update the calibration results to the calibration file. • Calibration File Path: the absolute path of the calibrate file. If the file exists in this path, it will be loaded. If it does not exist, it will fail to load and an error will be reported when running.
DobotVisionStudio User Guide • Matrix Correction Enable: In the conversion relationship generated by N image calibration, only when moving the calibration horizontally, the coordinates of the upper left corner of the checkerboard corner of the first image in the image are the image origin by default. When there is rotation calibration, the default is that the image rotation center is the origin of the physical coordinate system.
DobotVisionStudio User Guide • Translate Real Average Error: The average error of translation pixel is the real error obtained by single pixel precision transformation, and the unit is mm. • Average Error of Pixel Rotation: according to the pixel estimation error when the rotating image calculates the rotation center, the smaller the error, the more stable the rotation of the mechanism and the more reliable the rotation center.
DobotVisionStudio User Guide Calibration files can be generated through some calibration modules, and support XML format calibration files generated by N-point calibration, mapping calibration and N image calibration 3. Refresh the int data source of the preamble module at the signal. When the data source subscribed by the refresh signal is not 0, the module will automatically reload the selected calibration file.
DobotVisionStudio User Guide Basic Parameters of Single Point Alignment Input Mode It includes By Point or By Coordinate. Demonstrate Point-Run Point Select demonstration point and run point. You need to select 8 pairs at most. Calculate Rotation The rotation calculation module can rotate the point or line counterclockwise or anticlockwise around the rotation center point according to the rotation angle, and obtain the relevant information of the point or line after rotation.
DobotVisionStudio User Guide NOTE If the subscribed data source of rotation angle is positive, it is clockwise rotation; Otherwise, it rotates counterclockwise. The subscription method of lines and points is similar to that of the find angle bisector module. See the description of step 3 in Find Angle Bisector for details. 7. Switch to Result Show and set the specific module, color and transparency in Image Display, and set the text content and color in Text Show. 8.
DobotVisionStudio User Guide Point Set Alignment According to the X array and Y array of input target points, and the X array and Y array of object points, the tool of point set alignment calculates the movement amount required from the points to the target point, including the position movement amount and angle movement amount. The alignment module inputs the physical coordinates, so it needs to be used together with the calibration conversion, as shown below. Issue V4.1.
DobotVisionStudio User Guide Basic Parameters of Point Set Alignment Input Mode Demonstrate Point-Run Point It includes by point or by coordinate. Select demonstration point and run point. You need to select 2 pairs at least and 8 pairs at most. Calibration Transformation After the calibration is completed, the conversion between the camera coordinate system and the robot arm coordinate system can be realized by the calibration conversion module.
DobotVisionStudio User Guide Through external communication, the camera is controlled to capture images. The pixel coordinate positioning of the work piece image is realized by using feature template function. The generated calibration file is loaded in the calibration conversion module, and the pixel coordinates are output as robot arm coordinate. Through formatting, the external communication tells the robot arm unit to complete the function of the control robot arm.
DobotVisionStudio User Guide • Translation X/Y: it is the calibration parameters by calculation. The origin of the world coordinate system is mapped to image coordinates system, and obtain the coordinate X/Y. • Rotation: the rotation angle (unit: radians) of the world coordinate system relative to the image coordinate system.
DobotVisionStudio User Guide Output Results Transform Results Distance after the entered pixel interval is transformed through calibration file. Single Pixel Accuracy Size in the physical coordinate system corresponding to a single pixel. Translation X/Y It is the calibration parameters by calculation. The origin of the world coordinate system is mapped to image coordinates system, and obtain the coordinate X/Y.
DobotVisionStudio User Guide Basic Parameters of Camera Mapping Input Mode It includes by point or by coordinate. Demonstrate Point-Run It selects demonstration point and run point. You need to select 2 pairs at least Point and 8 pairs at most. Alignment Shape According to the shape of lines, select opening or closing. If the shape of lines is closed, select closing. Variable Calculation This tool supports multiple input mixed calculations.
DobotVisionStudio User Guide Calculator Parameters Reset Click it to reset as initial value. Execute Click it to execute once. Confirm Click it to save and exit the tool. Calculator Initial Value/ The variable calculates the initial value. When enabling calculator Initialization, each Calculator Initialization time the process execution resets the variable to the initial value of the setting. Expression Output Type sin(x) sinh(x) cos(x) cosh(x) You can edit the expression here.
DobotVisionStudio User Guide x is angle,the returned value is tan(x) tan. tanh(x) max(x,y) x is angle,the returned value is tanh. atan(x) It is atan, angle value is returned. atanh(x) It is atanh, angle value is returned. Get the larger value from x and y. min(x,y) Round all decimal places to ones round (decimal value) place, and output after the decimal log(x) position is 0. pow(x,y) x raised to the power of y.
DobotVisionStudio User Guide Image Combination The image combination combines with five image processing modules, including morphological processing, image binarization, image filter, image enhancement and shade correction. Its operation process is shown below. Issue V4.1.2 (2022-06-08) User Guide 186 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Steps: 1. Add different image processing modules to the processing list. 2. Check Enable to enable the corresponding module function. 3. Click 4. Click of the corresponding module to set the running parameters. and then output. NOTE The order in which the corresponding modules operate can be adjusted.
DobotVisionStudio User Guide • - Opening operation means erosion first and then dilation. - Closing operation means dilation first and then erosion. Structuring Element: it is a common parameter, and it supports rect, ellipse and cross. • Iteration Times: the max. running times of the morphological operation algorithm, and it only takes effect after setting dilation and erosion. • Element Width: it is the width of adjacent elements.
DobotVisionStudio User Guide Open Operation Using the same structural element to perform the corrosion operation on the target image first, and then using the expansion operation is called the open operation. The open operation has the effect of polishing the outer boundary of the image. Close Operation Using the same structural element to perform the expansion operation on the target image first, and then using the corrosion operation is called the close operation.
DobotVisionStudio User Guide • • • Mean Binarization Effect: - Filter kernel width: the average value of filter kernel width. Increasing this value can make the average filtered image smoother. - Filter kernel height: the average value of filter kernel height. Increasing this value can make the average filtered image smoother. - Comparison type: it has four comparison types, including greater than or equal to, less than or equal to, equal to, and not equal to.
DobotVisionStudio User Guide Image Filter The tool of Image filter is used to suppress the noise of the target image while reserving the image detail features as much as possible. Image Filter Gaussian Filter Gaussian filtering is a linear smoothing filter, and Gaussian smoothing filter is very effective for suppressing noise that obeys a normal distribution. Median filter is a non-linear smoothing filter, and it is used to eliminate salt and pepper Median Filter noise in the image.
DobotVisionStudio User Guide Image Enhancement The tool of image enhancement includes sharpness, contrast adjustment, Gamma adjustment, and brightness adjustment. Image Enhancement Image sharpening is to highlight the edges, contours, and features of some linear target elements on the image. This filtering method improves the contrast between the edge of the Sharpness object and the surrounding pixels, so it is also called edge enhancement.
DobotVisionStudio User Guide An image is overexposed and appears very white, or insufficient light appears very dark. At this time, brightness correction and correction can be carried out. curdst[i]=offset+cursrc[i]*gain Among them, cursrc[i] represents the current gray value of the input image, curdst[i] represents the current gray value of the output image, gain represents the brightness correction gain, and offset represents the brightness correction compensation.
DobotVisionStudio User Guide Refer to the figure below for the effect of image absolute difference calculation. • Image Input 1/2: you can select the input source image including input source 1 and input source 2, and execute computing to these two images. • Image Weight 1/2: it refers to the multiplication coefficient of input source 1/2 image gray value. • Calculation Type: it includes addition, substraction, absolute difference, max. value, min. value, mean value, and, or, etc.
DobotVisionStudio User Guide Correction Mode: it has three types, including perspective distortion correction, radial distortion correction and radial perspective distortion correction. - Perspective distortion correction: it is used to solve the perspective transformation matrix of the image. It is applied to the tilted calibration board (which is not perpendicular to the camera optical axis), the lens distortion is relatively small, and you can obtain an image without perspective distortion.
DobotVisionStudio User Guide • Assess Mode: it has two modes, including auto correlation and gradient square. The auto correlation mode is applied to auto focus scene, and the gradient square mode is applied to the scene with rich image edge information. • Noise Level: the default value is 0. When the image gray level difference is large, you can appropriately increase this parameter. It is valid in the auto correlation mode only.
DobotVisionStudio User Guide The image after shade correction is shown below: The parameters of shade correction are shown below: ⚫ Filter Kernel Size: it refers to the size of the filter kernel, and its range is from 1 to 50. ⚫ Gain: it refers to the gain of signal amplification, and its range is from 0 t0 100. ⚫ ⚫ Compensation: it refers to the brightness compensation value, and its range is from 0 to 255. Noise: it is used to eliminate noise.
DobotVisionStudio User Guide ⚫ Direction: it has three types of direction, including X, Y, XY, and all of them indicate the direction of filter kernel size. Affine Transformation The affine transformation has the function of cutting and zooming the image. Select the camera image on the right side of the image display source to frame the ROI. After frame selection, the ROI area will be cut out and displayed, as shown below. ⚫ Scale: it refers to the image's scale coefficient.
DobotVisionStudio User Guide ⚫ Arrow 1: Adjust the radius of the outer circle and the inner ring will not change. ⚫ Arrow 2: Adjust the curvature of the inner and outer rings at the same time. ⚫ Arrow 3/4: Adjust the arc length of the inner and outer rings at the same time. ⚫ ⚫ ⚫ Arrow 5/6: When selected one, the other is used as the fiduciary point for rotation and scaling. Direction of the circle: It has two directions, including counterclockwise and clockwise.
DobotVisionStudio User Guide When you want to process a certain area separately in the whole picture, you can choose the copy mode shown in the figure below. • Process Type: You can select fill or copy. • Fill Value outside the Region: It refers to the filling outside ROI region, and its range is from 0 to 255. The fill effect can be seen in the result display only when the ROI is not a rectangle or the entire image.
DobotVisionStudio User Guide The tool of frame mean is used to calculate the average value of the pixels of ROI region with the same size set by the multi-frame images, and output the average image of the region. Steps: 1. Select the ROI, and perform a frame mean operation on the ROI or on the full image. 2. Click Current Image Count to accumulate. Click Current Image Ignore, you can skip the frame mean operation of the current image, as shown below.
DobotVisionStudio User Guide Histogram Equalization Equalization helps to extend the image histogram. After equalization, the gray level range of the image is wider, which effectively enhances the contrast of the image. It transforms histogram distribution of inputting image that is removed left and right- Histogram end ratios into the specified histogram distribution.
DobotVisionStudio User Guide - -Expansion Amount: When the value is larger than 0, it will correct the barrel distortion. When the value is smaller than 0, it will correct the pincushion distortion. - Scaling Amount: Zoom out the whole image without changing its resolutions. Zoom in when the value is above 0 while zoom out when it is below 0. Geometric Transformation The geometric transformation can be used for horizontal, vertical, horizontal and vertical transformation of the image.
DobotVisionStudio User Guide Image stitching only supports calibration with self-developed calibration board. Take the stitching of 9 images as an example. Before stitching, you need to set up 9 cameras in sequence above the calibration board, or move a single camera to 9 fixed areas in a fixed way to shoot, and the finally 9 pictures need to cover the entire calibration board.
DobotVisionStudio User Guide Image Stitch Basic Parameters Input Mode There are two input methods, i.e., single source and multiple source. Single source: select one image source; single source corresponds to an application where a single camera moves multiple times. Multiple source: stitch several image sources; multiple source corresponds to an application where multiple cameras shoot at a fixed position. Stitch Number Customize the number of images that need to be stitched. Issue V4.1.
DobotVisionStudio User Guide Fill in the number of image sources in the box Stitch Number , and finish stitching by clicking Execute. Stitch Method A×B is the image of row A and column B, the value of which affects the image distribution in the stitch mode. The modeling process is as follows: 1. First take a picture of the calibration board in 9 different areas, and select the images to load in sequence in the model settings, as shown below.
DobotVisionStudio User Guide 2. After the image is loaded, click Feature Extraction to extract the feature. If the feature extraction is successful, the gray triangle in the lower left corner of the image will turn green, prompting the end of feature extraction. 3. After the feature extraction is completed, click Create Model to generate the model, and click Stitch Preview to preview the stitching effect picture.
DobotVisionStudio User Guide • If it is disabled, after completing one image stitching, when another image is input, it will replace one of the 9 images that are stitched together previously. Multiple Images Fusion This tool needs to be used in conjunction with the multiple images collection.
DobotVisionStudio User Guide Background Brightness Contrast Coefficient Direction Enhancement Type Direction Enhancement Grade The larger the value, the darker the background of the shadow image, and the smaller the value, the whiter the background of the shadow image. The larger the value, the more obvious the shadow of the shadow image, and the smaller the value, the less obvious the shadow. It includes none, x-direction and -direction. It controls the intensity of the direction enhancement.
DobotVisionStudio User Guide To extract the red area from the target map, you need to create a color extraction list first. First, measure the approximate values of the three channels, and manually set the three-channel extraction threshold, as shown below. The extraction model can also be generated automatically through modeling, as shown below. 1. Select the color area. Click the rectangle tool to select the color you want to extract. 2.
DobotVisionStudio User Guide 3. The three-channel extraction threshold is automatically generated. The threshold is the recommended value. If the segmentation result does not meet the requirements, you can make minor adjustments based on the three-channel histogram data. After the color extraction list is generated, the software will automatically extract the objects in the channel range and perform binaryzation, as shown below. Issue V4.1.
DobotVisionStudio User Guide Click and refer to the above modeling method to create multiple color extraction lists, as shown below. Color Extraction Color Space RGB, HSV and HSI. Channel Lower Limit The lower limit of the pixel values extracted by the image channel in the specified space. Channel Upper Limit The upper limit of the pixel values extracted by the image channel in the specified space. Color Inversion Color inversion after the binaryzation of image.
DobotVisionStudio User Guide Color Measurement The tool of color measure is used to measure the color information in the specified area of the color image, including the max. value, min. value, mean value, standard deviation and histogram of each channel, as shown below. Color Measurement Parameters Color Space RGB, HSV and HSI The operation result is shown below. Issue V4.1.2 (2022-06-08) User Guide 213 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Color Measurement Channel Min. It is the min. value of the corresponding color channel. Channel Max. It is the max. value of the corresponding color channel. Channel Mean It is the average value of the corresponding color channel. Channel Standard It is the standard deviation of the corresponding color channel. Color Transformation After inputting a colored image, you can choose transfer type, including RGB to grayscale, RGB to HSV, RGB to HSI, and RGB to YUV.
DobotVisionStudio User Guide Channel R r + 0*g +0*b Channel B 0*r + 0*g +b Channel G 0*r + g +0*b Channel 1 Transform according to channel 1. RGB to HSV, HSI and YUV Channel 2 Transform according to channel 2. Channel 3 Transform according to channel 3. Color Recognition Color recognition relies on color as a template for classification.
DobotVisionStudio User Guide Feature Type This parameter includes feature spectrum and feature histogram, and feature histogram is more sensitive. Intensity reflects the effect of light on the image. If you need to keep the recognition Intensity result more stable under the change of light, it is recommended to disable this parameter. You can only enable or disable intensity when selecting feature histogram as feature type. Intensity is always enabled when the feature type is feature spectrum.
DobotVisionStudio User Guide 2. Enter input source, ROI area, and rough match information in the basic parameter interface according to actual demands. 3. Click Train Model in the character model interface. 4. After opening the character training model, you can directly create model or inherit. 5. Click Next Step to enter the detection target interface, and use to draw detection area, and click Draw Character after setting related parameters. Character Segmentation Parameters Description Min.
DobotVisionStudio User Guide 6. Click Next Step to enter fine positioning interface. 7. Draw the area that needs training, set training parameters and exact location parameters, and click Model Training at last. Training Parameters Scale Mode It includes auto and manual. It is recommended to use auto mode. It indicates the fineness of extracting feature particles.
DobotVisionStudio User Guide It Indicates the angle change range of the target to be matched relative to the created Angle Range template. If you want to search for a target with a rotation change, you need to set it accordingly. The default range is between -180° and 180°. Correct Flag After enabling, the software will atomically correct the character position. Threshold Type It includes auto threshold, manual threshold, and model threshold.
DobotVisionStudio User Guide Running Parameters Character Detection Defect Type It has three types, including bright defect, dark defect, and bright and dark defect. Bright Threshold The min. grayscale of bright defect. Dark Threshold The min. grayscale of dark defect. Bright Scale The min. scale of bright defect. Dark Scale The min. scale of dark defect. Edge Tolerance The larger the value, and greater tolerance for defect.
DobotVisionStudio User Guide It indicates the variation range of the consistency scale of the target to be matched relative Y Scale Range to the created template. If you want to search for a target with a consistent scale change, you need to set the corresponding settings. Threshold Type It includes auto threshold, manual threshold, and model threshold. Speed Enable After enabling it, you need to enter speed threshold.
DobotVisionStudio User Guide • Input Mode: You can select By Circle or By Parameter. When selecting By Circle as Input Mode, you need to link Circle, Angle Start, and Angle Range. When selecting By Parameter as Input Mode, you need to enter Circle Center X, Circle Center Y, Radius, Angle Start and Angle Range. • ROI Area: You can select Draw or Inherit. • Edge Type: It includes Strongest Edge, First Edge and Last Edge. • Edge Polarity: It includes Dark to Light, Light to Dark and Both.
DobotVisionStudio User Guide Linear Edge Defect Detection The tool of linear edge defect detection is used to detect defects and bumps on the linear edge. It outputs the position information of the defect bounding box and defect size. The specific operation method is shown below. It is recommended to enable Standard Input when the linear edge is blurry. ⚫ Input Mode: You can select Line, By Point, or By Coordinate. When selecting Line as Input Mode, you need to link line.
DobotVisionStudio User Guide ⚫ Rough Min Distance: The distance between the edge point and the fitted straight line. If the distance is greater than the threshold, it is determined as the defect point to be filtered. If the Defect Size Enable or Defect Area Enable is enabled, you need to further filter according to the corresponding threshold. ⚫ Defect Size Enable: If enabled, you need to enter Rough Min Size. ⚫ Defect Area Enable: If enabled, you need to enter Rough Min Area.
DobotVisionStudio User Guide value, the stronger noise resistibility, the smaller the number of edges obtained, and even the target edge points are filtered out. • Ideal Width: It refers to the ideal distance between inner and outer arcs. • Caliper Height: It refers to the height of caliper. • Caliper Length: It refers to the length of caliper. • Caliper Spacing: It refers to the spacing of caliper.
DobotVisionStudio User Guide Edge 0/1 Polarity Edge 0 and Edge 1 in order from top to bottom of ROI Ideal Width It refers to the ideal distance between inner and outer arcs. Width Eligibility Range This parameter is the main parameter for the detection of arc pair defects. Edge Group Defect Detection Edge group defect detection can combine up to 32 edge defect detecting tools, including linear edge detection and arc edge detection.
DobotVisionStudio User Guide Edge Model Defect Detection Edge model defect detection is used to compare with the standard model to output relative defect information, such as location deviation, fracture defect and hierarchical defect. You need to select a relatively completed model to execute model building before detecting. Load or train to generate models in Edge Model. The interface is shown below when you select train model. 1. Click to customize an edge model.
DobotVisionStudio User Guide • Edge Intensity: It is used for edge grayscale limiting. The larger the value is, the more filterable edge points are. • Edge Precision: Generate a track automatically which fits the model trend, according to the model edge information. • Filter Kernel Size: For strengthening edge and repressing noise, the minimal value is 1. Set this value according to the actual needs.
DobotVisionStudio User Guide • Filter Kernel Size: For strengthening edge and repressing noise, the minimal value is 1. Set this value according to the actual needs. If the edge is burry or it is intervened by noises, increase the value to make the detecting results more stable. However, it might impact the edge position precision or even cause edge loss, if the interval between edges is less than the filter kernel size.
DobotVisionStudio User Guide Bubble Defect Detection ⚫ ⚫ ⚫ ⚫ Grayscale Acceptance: Compare the average grayscale of the current caliper and the model-building caliper Grayscale Change: A defect can be defined as a change defect, if adjacent pixels grayscale difference value is larger than the grayscale change. Bubble Defect Length: Refers to the caliper number of the adjacent defects that defined as bubble defects. Max.
DobotVisionStudio User Guide 2. Set the contrast area, which can be the whole image or the ROI area according to the actual demands. The ROI area should contain the target area to be detected. 3. In the batch training window, click to load images according to actual demands. Click OK or NG in Register Model according to actual conditions, and click Train to start training. NOTE Up to 40 images can be added (20 OK images and 20 NG images) , including at least one OK image. 4.
DobotVisionStudio User Guide 5. Run the operation models, as shown below. If the score of the target image is lower than the configured score threshold, the image will be labeled as NG. 6. Run the operation models. The NG image is shown below. Issue V4.1.2 (2022-06-08) User Guide 232 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide 7. The OK image is shown below. Logic Tools Condition Detection The condition detection determines whether the input data satisfies the condition. If it is satisfied, the operation interface displays OK character. Otherwise, it displays NG character, as shown below. Issue V4.1.2 (2022-06-08) User Guide 233 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Condition detection Judge Method It includes all and any. If the condition meets demands, the judge result is OK. Condition Type It includes int and float. Condition You need to link with previous module status, or other result outputs. Valid Value Range If the result selected meets the range from the min. value to the max. value, the result is OK, otherwise is NG. NOTE The corresponding result of each added condition can be viewed in the history interface.
DobotVisionStudio User Guide Branch Parameters Condition Input It can bind the previous module or int data from external communications. Index by value is to compare the condition input value with the set value Index by value after the module ID index. If these two values are the same, the branch will be executed. Otherwise, the branch will not be executed.
DobotVisionStudio User Guide Branch String Parameters Input Text Branch Parameters Debug Mode Receive data from the external communication or from formatting. Set the condition input value, and select branch module in accordance with the comparison of input text and condition input value. The branch will be always executed once being enabled. Save Text The tool of saving text is used to process complex data. It saves and loads the contents of the script that has been written.
DobotVisionStudio User Guide Save Path It customizes a saving path. File Save Number The max. file quantity can be stored. Document Size The Max. size of each file. Save Mode Timestamp Setting Generate Directory by Date File Naming You can set the saving mode when the upper saving limit has been reached. Two save modes are available: stop saving and overwrite. The timestamp information may display front of the file name.
DobotVisionStudio User Guide Logic Calculation Calculation Type You can select and, or, not, nand and nor. Calculation Data you can select data source to execute logic calculation. Format The format tool can integrate and format the data into a string for output. It can link the result output of previous modules, and you can also directly enter characters in the box. This tool is usually used to organize the data before the data output via communications.
DobotVisionStudio User Guide • Array list supports adding different array elements. Click them to change the position of added information. Click it to delete the currently configured contents. Input End Character \r: return; \n: new line; \r\n: return and new line. Split Symbol Split symbol is the delimiter between different elements. Array Delimiter It is used to separate multiple arrays. Save Click it to save format module. Cancel Click it to cancel format module.
DobotVisionStudio User Guide Script The script tool is used to process complex data. It saves and loads the contents of the script that has been written, and the script file format is suffixed with cs. There is no limitation for the length of script code, and script code supports import and export. After the import is completed, the script tool will execute a compilation. If the compilation fails, the system will show exception.
DobotVisionStudio User Guide The function interfaces include data acquisition interface, data output interface, and debugging related interface. Interface for setting/obtaining global variable GlobalVariableModule.SetValue Function Description Set Global Variable Function Method GlobalVariableModule.
DobotVisionStudio User Guide CurrentProcess.GetModule(string paramModuleName).GetValue(string Function Method paramValueName) Parameter Name Data Type Parameter Description Input paramModuleName string Variable Name Input paramValueName string Variable Value Success: specific result Return Value Exception: null Set running parameters of module GetModule.SetValue Function Description Function Method Set module running parameters CurrentProcess.GetModule(string paramModuleName).
DobotVisionStudio User Guide Input Return Value bytedata Byte Hexadecimal data to be sent Success: 0 Exception: error code rather than 0. TCP, UDP, serial port interface: SendData(string data) Function Description Send String data Function Method GlobalCommunicateModule.GetDevice(int deviceID).
DobotVisionStudio User Guide GetStringValue Function Description Obtain String variable value Function Method int GetStringValue (string paramName, ref string paramValue) Parameter Name Data Type Parameter Description Input paramName string Variable Name Output paramValue string Variable Value Return Value Success: 0 Exception: error code rather than 0.
DobotVisionStudio User Guide Function Method Input Output Return Value int GetFloatArrayValue(string paramName, ref float[] paramValue ， out int arrayCount) Parameter Name Data Type Parameter Description paramName string Variable Name paramValue float[] Variable Value arrayCount int Array Quantity Success: 0 Exception: error code rather than 0.
DobotVisionStudio User Guide SetStringValue Function Description Set string variable value Function Method int SetFloatValue (string key, float value) Input Parameter Name Data Type Parameter Description paramName string Variable Name paramValue string Variable Value Output Return Value Success: 0 Exception: error code rather than 0.
DobotVisionStudio User Guide Return Value Success: 0 Exception: error code rather than 0. SetIntValueByIndex Function Description Set Int array Function Method int SetStringValueByIndex(string key, string value, int index, int total) Input Parameter Name Data Type Parameter Description paramName string Variable Name value int Variable Value index int Array index total int Array element quantity Output Return Value Success: 0 Exception: error code rather than 0.
DobotVisionStudio User Guide Input msg string Print content Output Return Value None The Init() function is the initialization function and the Process() is processing function. The initialization function runs only during the first time, as shown below. Group In complex solution, too many modules may cause visual clutter. At this point, you can use Group tool to integrate different modules. Issue V4.1.2 (2022-06-08) User Guide 248 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Double click Group and enter the Group sub-interface. Click on the group tool to set related parameters. Issue V4.1.2 (2022-06-08) User Guide 249 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Input parameters and output parameters are used to bind and set input and output data, and they support multiple selections. Data outside the group needs to be set as input data before being passed to the Group, otherwise the relevant data cannot be bound within the Group. After the internal processing of the Group is completed, if the corresponding data is to be transmitted to the outside, the data also needs to be set as output data.
DobotVisionStudio User Guide You can set loop execution of modules in Group. Before executing loop function, you should set up internal functions of the Group, and complete the input and output settings. The main parameters are shown below: Loop Parameters Loop Enable After enabling, you can set loop related parameters. Cycle Start Value It refers to the start value of the loop. It is recommended to set as 0. Cycle End Value It refers to the end value of the loop.
DobotVisionStudio User Guide Break Loop After enabling, you can set conditions to stop loop. Data Type It sets the data type of the base comparison value. Base Compare Value Target Compare Value You can set customized value or link the base comparison value according to actual demands. It compares the base comparison value and target comparison value. If specific condition is meet, the interrupt will be executed. You can set the content, font color, font size, position, etc.
DobotVisionStudio User Guide Otherwise, this tool cannot calculate the time consuming. Parameter settings and operation results are shown below. Data Set Enter Group module to execute the internal loop and generate multiple result data, which can be integrated and output through the data set. All loop results or the result of the last loop can be output by setting the clear signal.
DobotVisionStudio User Guide You can also use the format tool to bind the contents output by the Group tool, as shown below. When the clear signal is set and not 0, the data generated in the last cycle can be output. The specific parameters are shown below. Data Set Parameters Empty Parameter 0 Not empty or 0 Name Type Completely output the cycle data, and clear the data before the start of the next cycle. Completely output the cycle data, but do not clear the data before the start of the next cycle.
DobotVisionStudio User Guide Data Source Bind pre-module data that need to be integrated. Communication Receive Data The Receive Data module can get data from data queue, communication devices and global variable. Here takes global variable as data source as an example. Add the data name to the input data and subscribe the data source. As the figure above, the receiving data module gets the data sent by flow 1 to the global variable.
DobotVisionStudio User Guide Select the global variable as the output option, and select the target global variable in the output data. You need to subscribe the data that needs to be sent to the global variable in the selected data. After sending data to the global variable, you can use the tool for receiving data to subscribe the data in the global variable, so as to get the sent data. Camera IO Communication Camera IO communication includes common camera communication and smart camera IO communication.
DobotVisionStudio User Guide Camera IO Communication Parameters IO Output Condition Related Camera Camera Type Duration When the output condition is consistent with the event set by the output type, the corresponding IO port output signal. You need to select the global camera. It includes common camera, smart camera and dalsa camera. The common camera has 2 IO ports, smart camera has 3 IO ports, and dalsa camera has 4 IO ports. Duration to output the active level, and the unit is ms.
DobotVisionStudio User Guide The result output is shown as below. You can also customize the logic through python script, compile the script and save it as a file with the py. suffix. There is a sample example under the installation path...\Module(sp)\x64\Communication\ DataAnalysisModule, as shown below. Issue V4.1.2 (2022-06-08) User Guide 258 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide After editing the script, you can parse the text by loading the script file in the protocol analysis module. For example, the formatted result "0000006400000005" can be parsed into decimal data 100 and 5 via script, as shown below. NOTE The name, type and number of output variables must be defined in the script. Protocol Assembly Protocol assembly is the reverse process of protocol analysis.
DobotVisionStudio User Guide The script assembly can customize or bind the assembly content, and at the same time, customize the conversion logic and load the script file in the python script. Finally, data assembly can be realized according to the logic set by scripts after running, as shown below. Dobot Magician Tools Moving to a Point Moving to a point means that Dobot Magician moves to a specified point according to the set motion mode.
DobotVisionStudio User Guide ⚫ Motion mode: the motion mode of the robot arm when it moves to the target position. The value range is MOVJ, MOVL, JUMP. - MOVJ: joint movement, from point A to point B. Each joint moves from the joint angle corresponding to point A to the joint angle corresponding to point B. During the joint movement, the running time of each joint axis should be consistent and the joint axis reaches the end point at the same time, as shown in the figure below. Issue V4.1.
DobotVisionStudio User Guide - MOVL: straight line movement, path S from point A to point B. - JUMP: door-shaped trajectory, moving from point A to point B in MOVJ mode, as shown in the figure below. 1. Rise to a certain Height in MOVJ mode. 2. Transition to maximum lifting height (Limit) in MOVJ mode. 3. Move to the height above point B in MOVJ mode. 4. Transition to the height of point B plus Height in MOVJ mode. 5. Descend to point B in MOVJ mode.
DobotVisionStudio User Guide Home Calibration If Dobot Magician loses step during working or encounters crash, you need to execute homing operation to improve its accuracy. The calibration tool is shown below. Issue V4.1.2 (2022-06-08) User Guide 263 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Suction Cup Switch Suction cup is used to suck up or release object. After connecting suction cup to Dobot Magician, you can make it suck up or release object by controlling the switch, as shown below. ON/CLOSE: Control the intake and outtake of air pump. Value range: On means intake, and Close means outtake. Gripper Switch Gripper is used to grab or release objects.
DobotVisionStudio User Guide Laser Switch Laser switch is used for laser engraving. After connecting laser engraving kit to Dobot Magician, you can make it work by controlling the switch, as shown below. Laser: Click to open or close laser. Value range: On and Off. I/O Multiplexing Issue V4.1.2 (2022-06-08) User Guide 265 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide The laser switch is used for laser engraving. After connecting the laser engraving kit to Dobot Magician, you can set the laser switch tool for laser engraving, as shown in Laser Switch. In the Dobot controller, all extended I/O is uniformly addressed. Based on the current situation, I/O functions include the following: • High and low level output; • PWM output; • Read the input level (high and low); • Read the input analog-to-digital conversion value.
DobotVisionStudio User Guide ⚫ Address: Set the address of the output interface. See the definition of Dobot Magician I/O Interface in Dobot Magician User Guide. ⚫ DO: IO output; ⚫ PWM: PWM output; ⚫ Dummy: No function is configured. ⚫ DI: IO input. ⚫ ADC: AD input. I/O Output The addresses of the I/O interfaces in Dobot Magician are unified. You can set specified output status by I/O output tool, as shown below. Issue V4.1.2 (2022-06-08) User Guide 267 Copyright © Yuejiang Technology Co.
DobotVisionStudio User Guide ⚫ ⚫ Address: Set the address of output interface. For the definition of I/O interface, please refer to Dobot Magician User Guide. Level: Set I/O output status. Value range: High means high level, and Low means low level. I/O Input The addresses of the I/O interfaces in Dobot Magician are unified. You can get specified input status by I/O input tools, as shown below. Issue V4.1.2 (2022-06-08) User Guide 268 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Address: Set the address of input interface. For the definition of I/O interface, please refer to Dobot Magician User Guide. Issue V4.1.2 (2022-06-08) User Guide 269 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Cases Location for USB Hole In this example, measure the position information of the CNC USB interface, and determine the center point position, as shown below. Steps: 1. Solution establishment idea: Find the position of the USB interface in the image by matching template. Find the four lines of the trapezoidal interface, including upper line, left line, lower line, right line.
DobotVisionStudio User Guide 2. Save the solution. 3. Load solution. 4. Train model, as shown below. Locate the trapezoidal interface by matching template, as shown below. Issue V4.1.2 (2022-06-08) User Guide 271 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide 5. Find lines. Select ROI according to actual features of lines in the image, and set parameters. Edge Polarity: it includes dark to light, light to dark and any. Search Mode: it includes best line, first line and last line. Search Direction: it includes top to bottom and lift to right. In this example, find the upper line of the trapezoidal interface is shown below. In this example, find the lower line of the trapezoidal interface is shown below. Issue V4.1.
DobotVisionStudio User Guide In this example, find the left line of the trapezoidal interface is shown below. In this example, find the right line of the trapezoidal interface is shown below. 6. Determine the left and upper intersection point of lines, as shown below. Issue V4.1.2 (2022-06-08) User Guide 273 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide 7. After obtaining the four intersection points, execute point to point (P2P) measurement. Detection for Detective Metal In this example, it detects whether there is a metal cover and its position is right, and the sample image is shown below. Steps: 1. Solution establishment idea: The surface of the metal cover is reflective, and whether there is a metal cover can be detected by intensity analysis.
DobotVisionStudio User Guide feature matching tool, you can set the center of the base as a matching point by the training template. l Find the center of the installation hole on the metal cover by the tool of finding circle. Measure the distance between the matching point and the center of the circle by the tool of point-to-point measurement (P2P measure). Determine whether the metal cover is installed correctly by the center distance and the tool of if module. 2.
DobotVisionStudio User Guide 4. Find circle. Select the search range of circle, and determine the the location of metal cover, as shown below. Issue V4.1.2 (2022-06-08) User Guide 276 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide 5. Measure. The distance between circle center and the matching point is shown below. According to valid value range to determine whether the installation position is right or not. Issue V4.1.2 (2022-06-08) User Guide 277 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide 6. Intensity measurement analysis. Determine whether there is a metal cover by intensity measure and if module, as shown below. 7. Detection result is shown below. Issue V4.1.2 (2022-06-08) User Guide 278 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Distance Detection In this example, detect the distance between the far left and far right circle holes on the electronics, as shown below. Steps: 1. Solution establishment idea: Issue V4.1.2 (2022-06-08) User Guide 279 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Calibration can be calibrated by checkerboard. There are a lot of interference for many circles among far left and far right circles. Thus, template matching and location is needed for capture the circle accurately. Transform the two circle centers to the post-calibration coordinates via calibration transformation. Measure the circle center distance by using point to point measure (P2P measure). 2. The overall solution flow is shown below. 3. Calibration.
DobotVisionStudio User Guide Transform the two circle centers to the post-calibration coordinates via calibration transformation. 6. P2P measure In the basic parameter interface of P2P measure, enter the coordinates of two circle centers as start point and end point. The result is shown below after running the solution. Issue V4.1.2 (2022-06-08) User Guide 281 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Loop Function Steps: 1. Set up solution flow. The overall solution flow is shown below. 2. Set loop parameters. The settings of loop parameters must have circle start value and circle end value, as shown below. Issue V4.1.2 (2022-06-08) User Guide 282 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide 3. Set the parameters of finding peak. The tool of finding peak should set up standards according to loop times, as shown below. 4. Display result. The result is shown below after running the loop control tool. Issue V4.1.2 (2022-06-08) User Guide 283 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Script Function The script function provides input interface, and it transmits to output via C# programme process. Steps: 1. Set up solution flow. Find circle output diameter by template matching, as shown below. Issue V4.1.2 (2022-06-08) User Guide 284 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide 2. Edit script. Double-click the script module and enter editing page, as shown below. Issue V4.1.2 (2022-06-08) User Guide 285 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide You can add new variable by clicking +. The variable has two types, including int and float. You can set value in original value, as shown below. The main body of the script is divided into three parts, as shown below. • The first part defines the global variable, and it only runs during first time. This solution should define an integer variable and a diameter variable, as shown below. Issue V4.1.2 (2022-06-08) User Guide 286 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide • The second part defines the initial variable, and it only runs during first time. This solution should define an initial integer variable and a diameter variable, as shown below. • The third part defines the main function area, and user can edit according to its demands. The detailed code of this solution is shown below. Issue V4.1.2 (2022-06-08) User Guide 287 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Medicine Bottle Detection Functional Requirement A customer needs to conduct multiple tests on medicine bottles on site, as shown below. Recognize the production date, expiration date, and product batch number printed on the bottle body. Check if the font on the bottle cap is defective, distorted, and the printing is qualified or not. Recognize the black stains and deformation at the bottom of the bottle.
DobotVisionStudio User Guide Solution Design The information on the bottle body can be recognized by the tool of character recognition, and data can be integrated by formatting. But due to medicine bottles conveyed on site may be inclined, you can use feature matching and fixture tools to solve it. Regarding the problem of defective fonts on bottle cap, you can use defect detection tool.
DobotVisionStudio User Guide • Send Data The role of sending data aims to send processed data to external device for statistics. Bottle Cap Detection You can refer to following solutions to check if the font on the bottle cap is defective, distorted, and the printing is qualified or not. • Character Defect Section Character training is required before executing character defect detection. The aim of the training is to put the OK model into the library for later comparison with NG images.
DobotVisionStudio User Guide When the grayscale difference between the character and the background is small, it is recommended to enable binary image. When the font is inclined or the automatic segmentation is inaccurate, it is recommended to manually select characters and use default parameters for training parameters. After selection, click the training template to create character outline, and click next to enter the training interface as shown below.
DobotVisionStudio User Guide • Condition Detection Select int type data for conditional detection, and link with character defect detection number. • Send Data Send condition detection results to the data queue. For character defects on the bottle cap are not output separately, it is recommended to use data queue to integrate all defects to send the detection results of process 1 to the data queue.
DobotVisionStudio User Guide • Send Data Send detection results to the data queue, and integrate with results of bottle cap character detection. • Branch Character The branch character is used to control the execution of subsequent modules when the condition detection result is NG, including NG image saving and NG count accumulation, as shown below. Results Output You can refer to following to get detection results and send them to external machines via vision controller IO. Issue V4.1.
DobotVisionStudio User Guide • Receive Data Receiving data is used to receive the data in the data queue of queue0 and queue1. • Logic Link received data of var0 and var1 in logic tool. This means that the judgment result of the bottle cap and the bottle bottom. • Send Data The module of sending data is linked with the output of vision controller. Refer to section IO communication for details.
DobotVisionStudio User Guide Detection Results Finally, detection results and related information will be displayed on the operating interface, as shown below. Issue V4.1.2 (2022-06-08) User Guide 295 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Multi-Flow Communication Steps: 1. Judge the quantity of the three different samples and send the judgment result. The flow 1 in the figure below is to detect the quantity of lamps. If there is a missing one, it is unqualified. 2. In order to combine these three detection results, you can send the judgment result to the data queue. Click to enter the main flow, and set up the corresponding data queues here, as shown below. Issue V4.1.
DobotVisionStudio User Guide 3. View the cache of the data queue in the history result. 4. Through the receiving data module, the flow can get the value of the data queue, and perform operation. Issue V4.1.2 (2022-06-08) User Guide 297 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide NOTE The script here acts as a delay because the data queue follows the principle of first-infirst-out and the data can only be taken out when the number in a row is full. Make sure that flows before the receiving data module has operated.
DobotVisionStudio User Guide 7. Finally, perform a logical and operation on all the received data, and output the result of the operation to a third-party device through TCP communication. Communication Trigger Flow Different bytes are used to trigger various processes via the established TCP communication. If the first two digits of the sent data are 0100, the flow 1 will be triggered. If the last two digits of the sent data are 0100, the flow 2 will be triggered.
DobotVisionStudio User Guide 9. Establish TCP connection 10. Establish two receiving events of byte match-protocol assembly. 0 byte match-protocol assembly trigger flow 1 and 1 byte match-protocol assembly trigger flow 2. The specific parameter settings are shown below. Issue V4.1.2 (2022-06-08) User Guide 300 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide In the assembly configuration interface, the software can return the received data to the device. 11. Configure the sending event. This module can send data via sending event, as shown below. Issue V4.1.2 (2022-06-08) User Guide 301 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide 12. Configure the global trigger parameters. 13. Send communication data 01000000 to trigger flow 1 and send communication data 00000100 to trigger flow 2. After triggering, the software will send required data to the device via sending event. Issue V4.1.2 (2022-06-08) User Guide 302 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Dobot Magician Demo The demos in this chapter need to be used with Dobot Magician. For installation of Dobot Magician, see relevant manuals on Magician. Robot Calibration Objective: Make calibration files by calibration tools. 1. Click Camera, as shown below. Select a camera, and set Pixel Format to MONO8. You can adjust the brightness of camera by adjusting aperture, exposure-time and light, if the photograph is not bright enough.
DobotVisionStudio User Guide 2. Click Image Source module. Set Image Source to Camera, and set Relate Camera to the global camera that you set above. Issue V4.1.2 (2022-06-08) User Guide 304 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide You can get an image by clicking or a series of images by clicking in SOFTWARE mode. Meanwhile, you can adjust parameters based on site requirements. An image is shown below. Set Input Source to Input Source.ImageData. Set Calibration Board Type to Checkboard Calibration Board. Then click Confirm. Issue V4.1.2 (2022-06-08) User Guide 305 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide 1. Set Translation Number to 9. Click to get image, as shown below. Calibrate 9 points in the order of the green arrow shown in the figure below. Issue V4.1.2 (2022-06-08) User Guide 306 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide 2. Click on the toolbar to open DobotStudio. Choose Magician and click Connect. Set Pen as the end-effector of Magician. Issue V4.1.2 (2022-06-08) User Guide 307 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide 3. Jog X-axis and Y-axis on DobotStudio to make the pen move to the nine points in the order of the green arrow which is shown above. Write down every point value according to the corresponding ID on Edit Calibration Points page. You can click on the right side to directly acquire the current X coordinate and Y coordinate, or manually input the coordinates. Then click Confirm. Issue V4.1.2 (2022-06-08) User Guide 308 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide 4. Click Create Calibration File to save the calibration file. NOTE The calibration file will be used in the following demos. If the relative position between camera and Magician is changed or Magician loses steps, you have to create the calibration file again. Color Sorting Objective: Detect the color of blocks and sort them, as shown below. NOTE Calibration file needs to be generated beforehand. Issue V4.1.
DobotVisionStudio User Guide Extract the sorted color in the camera image, and sort corresponding blocks according to color. Convert image coordinate to physical coordinate according to the calibration file. Sort the specified color blocks by Dobot Magician. The overall solution flow is shown below. Issue V4.1.2 (2022-06-08) User Guide 310 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide 1. Click Camera, as shown below. Select a camera, and set Pixel Format to RGB 8. You can adjust the brightness of camera by adjusting aperture, exposure-time and light, if the photograph is not bright enough. Set Trigger Source to SOFTWARE in Trigger Settings. Issue V4.1.2 (2022-06-08) User Guide 311 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide 2. Click Image Source, as shown below. Select Camera as Image source. Select the global camera device that you set above as Relate Camera. Issue V4.1.2 (2022-06-08) User Guide 312 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Refer to Color Extraction. Take red as an example. Set Color Space to RGB, and set the value of every channel. Extract the specified color and output an image. Issue V4.1.2 (2022-06-08) User Guide 313 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide NOTE You can get RGB channel values by moving the mouse on the block in color that you want to sort. The values are shown in the right lower corner of the page. Issue V4.1.2 (2022-06-08) User Guide 314 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide 1. Set Input Source to the image that you want to use, and set ROI Creation to Draw. Click Confirm. 2. Set Morphology Type based on site requirements (Set it to Dilation in the demo). Set Structuring Element to Rect, then click Confirm. Issue V4.1.2 (2022-06-08) User Guide 315 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide 1. Set Input Source to the image that you want to use, and set ROI Creation to Draw. 2. Set Run Params, as shown below. Issue V4.1.2 (2022-06-08) User Guide 316 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Set Input Source and Input Mode, as shown below. Load the calibration file and click Confirm. Issue V4.1.2 (2022-06-08) User Guide 317 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Set motion mode. For details, refer to Moving to a Point. Select the corresponding physical coordinates, and set the Z-axis value based on site requirements. Issue V4.1.2 (2022-06-08) User Guide 318 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Set suction cup to ON or CLOSE based on site requirements. Set placing positions of blocks according to different colors. Issue V4.1.2 (2022-06-08) User Guide 319 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Character Defect Detection Objective: Detect whether characters have defects like characters missing and redundancy. NOTE Calibration file needs to be generated beforehand. Create the template of the standard characters and train them. Compare the trained characters with the target characters to find detects. Issue V4.1.2 (2022-06-08) User Guide 320 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Analyze the result and sort characters with Dobot Magician. The overall solution flow is shown below. Issue V4.1.2 (2022-06-08) User Guide 321 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide 1. Click Camera, as shown below. Select a camera, and set Pixel Format to MONO8. You can adjust the brightness of camera by adjusting aperture, exposure-time and light, if the photograph is not bright enough. Set Trigger Source to SOFTWARE in Trigger Settings. 2. Click Image Source module. Set Image Source to Camera, and set Relate Camera to the global camera that you set above. Issue V4.1.2 (2022-06-08) User Guide 322 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Create feature models by Fast Match module, as shown below. You can set Scale Mode to Manual to select manually. Set the roughness and the contrast threshold based on site requirements. Issue V4.1.2 (2022-06-08) User Guide 323 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Create the reference of position deviation according to the match point and angle. As shown below, set Input Source to the image that you want to use, and set Choose Mode to By Point. Click Create Reference, as shown below. 1. Click Train Model to create a character model. Issue V4.1.2 (2022-06-08) User Guide 324 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide 2. The process of training is shown below. Create a rectangular mask and generate a model. Click Next. Issue V4.1.2 (2022-06-08) User Guide 325 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide 3. Extract characters following the figure below. Click Next Step. 4. Select characters manually for fine positioning, as shown below. Click Model Training. Then click Next Step. Issue V4.1.2 (2022-06-08) User Guide 326 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide 5. The process of setting detection area mask is shown below. After setting the mask, you will see the Set Successfully pop-up window. Then click Next Step. 6. The process of statistical training is shown below. Click to choose Current Image. Click Current Image Statistics, and you will see the result in the lower right corner. Click OK. Issue V4.1.2 (2022-06-08) User Guide 327 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide 7. Now you have completed the configuration of character defect detection. Click OK to exit. 1. Set Input Source to the image that you want to use, and set ROI Creation to Draw. 2. Set Morphology Type to Opening. Set Structuring Element to Ellipse. You can set other parameters according to site requirements. Click Confirm. Issue V4.1.2 (2022-06-08) User Guide 328 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide 1. Set Input Source to the image that you want to use, and set ROI Creation to Draw. 2. Set Run Params, as shown below. Issue V4.1.2 (2022-06-08) User Guide 329 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Set Input Source and Input Mode, as shown below. Load calibration file and click Confirm. Issue V4.1.2 (2022-06-08) User Guide 330 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Set suction cup to ON or CLOSE based on site requirements. Issue V4.1.2 (2022-06-08) User Guide 331 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Set placing positions for normal characters and defective characters. Issue V4.1.2 (2022-06-08) User Guide 332 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide The detection results are shown below. Issue V4.1.2 (2022-06-08) User Guide 333 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Diameter Measurement Objective: Measure the diameter of objects and judge the location of the object. NOTE Calibration file needs to be generated beforehand. Issue V4.1.2 (2022-06-08) User Guide 334 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide ⚫ To find the measured objects by find circle module. ⚫ Convert image size to physical size by scale transformation. ⚫ Convert image coordinate to physical coordinate by calibration tools. ⚫ Sort eligible objects. The overall solution flow is shown below. Issue V4.1.2 (2022-06-08) User Guide 335 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide 1. Click Camera, as shown below. Select a camera, and set Pixel Format to MONO8. You can adjust the brightness of camera by adjusting aperture, exposure-time and light, if the photograph is not bright enough. Set Trigger Source to SOFTWARE in Trigger Settings. Issue V4.1.2 (2022-06-08) User Guide 336 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide 2. Click Image Source module. Set Image Source to Camera, and set Relate Camera to the global camera that you set above. Issue V4.1.2 (2022-06-08) User Guide 337 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide 1. Set Input Source to the image that you want to use, and set ROI Creation to Draw. 2. Acquire the range of radius according to the following figures. Click Confirm. Issue V4.1.2 (2022-06-08) User Guide 338 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Issue V4.1.2 (2022-06-08) User Guide 339 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Set Input Source and Pixel Interval. Convert pixel unit to physical unit by scale transformation tools. Click Confirm. Set Input Source and Input Mode, as shown below. Load calibration file and click Confirm. Issue V4.1.2 (2022-06-08) User Guide 340 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Set motion mode. For details, refer to Moving to a Point. Select the corresponding physical coordinates, and set the Z-axis value based on site requirements. Set suction cup to ON or CLOSE based on site requirements. Set valid range of physical radius, as shown below. Issue V4.1.2 (2022-06-08) User Guide 341 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Place different circles according to the measured results. If the result is 1, execute branch 8, otherwise execute branch 7. Issue V4.1.2 (2022-06-08) User Guide 342 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Set placing positions for objects according to the detection results. Issue V4.1.2 (2022-06-08) User Guide 343 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Rectangle Template Match Objective: Find rectangles and put them to the corresponding template through angle calculation and model match, as shown below. NOTE Calibration file needs to be generated beforehand. Issue V4.1.2 (2022-06-08) User Guide 344 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Create feature templates for rectangle and rectangle model by feature match module. NOTE There are two feature matches in this demo to determine ROI, which are used for searching rectangle and rectangle model respectively. Issue V4.1.2 (2022-06-08) User Guide 345 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Calculate the angle of rectangle and rectangle model by variables to adjust the matching angle. NOTE The angle of end-effector of Magician is -150°to 150 °. As the angle of model matching may be -150 °to -180 °or 150 °to 180 °, script is used to transform the matching angle into an executable angle for Magician. Convert image coordinate to physical coordinate by calibration transformation. Match rectangle by controlling Magician.
DobotVisionStudio User Guide 1. Click Camera, as shown below. Select camera, and set Pixel Format to MONO8. You can adjust the brightness of camera by adjusting aperture, exposure-time and light, if the photograph is not bright enough. Set Trigger Source to SOFTWARE in Trigger Settings. Issue V4.1.2 (2022-06-08) User Guide 347 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide 2. Click Image Source, as shown below. Select Camera as Image source. Select the global camera device that you set above as Relate Camera. Issue V4.1.2 (2022-06-08) User Guide 348 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide 1. Set Input Source to the image that you want to use. Set ROI Creation to Draw , and draw ROI area with mouse. Issue V4.1.2 (2022-06-08) User Guide 349 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide 2. Create feature templates, as shown below. You need to select all characters completely enclosed by a green box. You can set Scale Mode to Manual to select characters manually if the green box cannot cover all characters. Then set the roughness and contrast threshold based on site requirements. Issue V4.1.2 (2022-06-08) User Guide 350 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide 1. Set Input Source to the image that you want to use. Set ROI area to Draw, and draw ROI area with mouse. 2. Create feature templates, as shown below. You need to select all characters completely enclosed by a green box. You can set Scale Mode to Manual to select characters manually if the green box cannot cover all characters. Then set the roughness and contrast threshold based on site requirements. Issue V4.1.
DobotVisionStudio User Guide Establish the position offset baseline according to the feature matching point and angle, As shown in the figure below, set Input Source to the image to be processed. Select By Point in Choose Mode, and click Create Reference. Issue V4.1.2 (2022-06-08) User Guide 352 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Establish the position offset baseline according to the feature matching point and angle, As shown in the figure below, set Input Source to the image to be processed. Select By Point in Choose Mode, and click Create Reference. Issue V4.1.2 (2022-06-08) User Guide 353 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Set Input Source to the image to be processed. Set ROI Creation to Draw. Set the position correction information of the rectangle. As shown in the figure below, set line search for the target side in Shape. Click Execute. Set Input Source to the image that you want to use. Set ROI Creation to Draw. Set the position correction information of the rectangle. As shown in the figure below, set line search for the target side in Shape. Click Execute.
DobotVisionStudio User Guide Set Input Source and Input Mode, as shown below. Load calibration file and click Confirm. Select the corresponding physical coordinates, and set the Z-axis value based on site requirements. Issue V4.1.2 (2022-06-08) User Guide 355 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Set R-axis to the output of variable calculation. Issue V4.1.2 (2022-06-08) User Guide 356 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Set Input Source, Input Mode and Coord Point, as shown below. Load calibration file and click Confirm. Select the corresponding physical coordinates, and set the Z-axis value based on site requirements. Issue V4.1.2 (2022-06-08) User Guide 357 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Circle Template Match Objective: Measure the diameter of circles and put them into the corresponding model as shown below. NOTE Issue V4.1.2 (2022-06-08) User Guide 358 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Calibration file needs to be generated beforehand. Find the measured circle by Circle Search module. Convert image coordinate to physical coordinate by calibration tools. Put circles to corresponding circle models by Dobot Magician. The overall solution flow is shown below. Issue V4.1.2 (2022-06-08) User Guide 359 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide 1. Click Camera, as shown below. Set Pixel Format to MONO8. You can adjust the brightness of camera by adjusting aperture, exposure-time and light, if the photograph is not bright enough. Set Trigger Source to SOFTWARE in Trigger Settings. Issue V4.1.2 (2022-06-08) User Guide 360 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide 2. Click Image Source, as shown below. Select Camera as Image source. Select the global camera device that you set above as Relate Camera. Issue V4.1.2 (2022-06-08) User Guide 361 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide 1. Set the range of circle search. Set Input Source to the image that you want to use. Set ROI Creation to Draw, and draw ROI area with mouse. Issue V4.1.2 (2022-06-08) User Guide 362 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide 2. Set radius and mode parameters to search eligible circles. Then click Confirm. Please refer to Step 3 to set model parameters. Issue V4.1.2 (2022-06-08) User Guide 363 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Set Input Source and Input Mode, as shown below. Load calibration file and click Confirm. Issue V4.1.2 (2022-06-08) User Guide 364 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Set the grasping position of Magician. For details about motion mode, refer to Moving to a Point. Set the Z-axis value based on site requirements. Set Input Source and Input Mode, as shown below. Load calibration file and click Confirm. Issue V4.1.2 (2022-06-08) User Guide 365 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Set the match position. For details about motion mode, refer to Moving to a Point. Set the Zaxis value based on site requirements. Close suction cup. Issue V4.1.2 (2022-06-08) User Guide 366 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide All circles are matched successfully. Issue V4.1.2 (2022-06-08) User Guide 367 Copyright © Yuejiang Technology Co., Ltd.
DobotVisionStudio User Guide Issue V4.1.2 (2022-06-08) User Guide 368 Copyright © Yuejiang Technology Co., Ltd.
