Asyril SmartSight User manual

SmartSight
User guide
Document
SMARTSIGHT_User_Guide_EN
000.100.533
Version
C2
Date
05.08.2019

© Copyright Asyril S.A.
Table of Contents
Version: C2
000.100.533 2/68
Table of Contents
TABLE OF CONTENTS..............................................................................................................................2
1. INTRODUCTION...............................................................................................................................4
1.1. GENERAL INFORMATION...........................................................................................................4
1.2. OTHER MANUALS......................................................................................................................4
2. STRUCTURE OF THE SMARTSIGHT..........................................................................................6
2.1. IMAGE CONFIGURATION AND RECIPES......................................................................................7
2.1.1. Definition of the image configuration concept ..................................................................7
2.1.2. Defining the image configuration to use..........................................................................12
2.1.3. Recipes................................................................................................................................12
3. CONFIGURING THE SYSTEM ....................................................................................................13
3.1. PIXEL/MM CALIBRATION..........................................................................................................15
3.2. CALIBRATING THE FEEDER .....................................................................................................17
3.3. CALIBRATING THE PROCESS...................................................................................................18
4. CREATION AND CONFIGURATION OF A NEW RECIPE .....................................................20
4.1. CONFIGURING THE ASYCUBE.................................................................................................21
4.1.1. Vibration of the Asycube platform and reservoir............................................................21
4.1.2. Configuring the vibration process.....................................................................................21
4.1.3. Configuring the process for two components and two hoppers ..................................24
4.2. CONFIGURATION OF THE VISION SYSTEM...............................................................................26
4.2.1. Selection of the vision analysis type................................................................................26
4.2.2. Configuring the illumination parameters..........................................................................27
4.3. PROGRAMMING THE VISION MODEL........................................................................................30
5. PROGRAMMING THE VISION MODEL.....................................................................................31
5.1. OVERVIEW ..............................................................................................................................31
5.1.1. Tips and shortcuts..............................................................................................................32
5.2. PRE-LOCALIZATION.................................................................................................................32
5.2.1. Overview..............................................................................................................................32
5.2.2. Configuring the tool: "Model" tab......................................................................................33
5.2.3. Configuring the tool: "Bounding Box" tab........................................................................38
5.2.4. Advanced mode..................................................................................................................39
5.3. MODEL FINDER.......................................................................................................................40
5.3.1. Overview..............................................................................................................................40
5.3.2. "Settings" tab.......................................................................................................................40
5.3.3. Configuring the tool: "Detection" tab................................................................................42
5.3.4. Configuring the tool: "Detection (advanced)" tab...........................................................45
5.3.5. Configuring the tool: "ControlSettings" tab .....................................................................46

© Copyright Asyril S.A.
Table of Contents
Version: C2
000.100.533 3/68
5.3.6. Configuring the tool: "Control (Model)" tab.....................................................................47
5.3.7. Configuring the tool: "Control (Advanced)" tab ..............................................................48
5.3.8. Configuring the tool: "Results" tab...................................................................................49
5.4. EXCLUSION ZONE DEFINITION ................................................................................................51
5.4.1. (Empty Picking Zone Growing) (EPZG)..........................................................................52
5.4.2. Empty Picking Zone Region (EPZR) ...............................................................................54
5.5. LOCATION RESULTS................................................................................................................59
5.6. FEEDING INFORMATION ..........................................................................................................60
6. END OF PROGRAMMING............................................................................................................61
6.1. CLOSING THE ASYVIEW TEACHING WINDOW .........................................................................61
6.2. TESTING THE VISION MODEL...................................................................................................62
6.3. PERMANENTLY SAVING THE VISION MODEL............................................................................63
7. SAVING IMAGES ...........................................................................................................................65
8. TECHNICAL SUPPORT................................................................................................................66
8.1. TO HELP US PROVIDE THE BEST SERVICE..............................................................................66
8.2. CONTACT................................................................................................................................66
REVISION TABLE.....................................................................................................................................67

© Copyright Asyril S.A.
Introduction
Version: C2
000.100.533 4/68
1. Introduction
1.1. General information
This document is the exclusive property of Asyril SA; it may not be reproduced, modified or
communicated, in whole or in part, without our prior written authorisation. For the purposes of
product improvement, Asyril SA reserves the right to modify any information contained in this
document without prior notice. Before using the product, please read this entire document in
order to ensure that the product is used correctly. However, if you encounter difficulties when
using the product, do not hesitate to contact our customer service department.
In this manual, the safety information that must be respected is split into three types: "Danger",
"Important" and "Note". These messages are identified as follows:
DANGER!
Failure to observe this instruction may result in serious physical injury.
DANGER!
This instruction identifies an electrical hazard. Failure to respect this instruction may
result in electrocution or serious physical injury due to an electric shock.
IMPORTANT!
Failure to respect this instruction may result in serious damage to equipment.
NOTE:
The reader's attention is drawn to this point in order to ensure that the product is used correctly.
However, failure to respect this instruction does not pose a danger.
Reference …
For more information on a specific topic, the reader is invited to refer to another manual or
another page of the current manual.
IMPORTANT!
Asyril cannot be held liable for damage to property or injuries to people caused by failure to
follow the instructions specified in the "Safety instructions" paragraph. It is the customer's
responsibility to inform the personnel concerned.
NOTE:
All dimensions and measurements in this manual are expressed in millimetres (mm)
1.2. Other manuals
The table below provides a list of documents supplied with the product. Each of these manuals
forms an integral part of the set of documentation associated with the product.

© Copyright Asyril S.A.
Introduction
Version: C2
000.100.533 5/68
This manual contains all the necessary information for a user to configure and use a new
process (feeding and visual recognition).
Manual name
Reference
Description of the content
Operating
manual
SMARTSIGHT_Operating_Manual_EN
Contains a technical
description of the product and
its functionalities together with
instructions for its
transportation and
maintenance
Programming
guide
SMARTSIGHT_Programming_Guide_EN
Contains information about
communication and use of the
product at the programming
level
User guide
SMARTSIGHT_User_Guide_EN
THIS MANUAL
HMI Manual
Directly accessible via the HMI
Table 1-1: Other manuals

© Copyright Asyril S.A.
Structure of the SmartSight
Version: C2
000.100.533 6/68
2. Structure of the SmartSight
The SmartSight can be broken down into 3 main elements which are described in the following
table and detailed in subsequent sections.
Element
Content
Description
Image
configurations
•Image region
•Items relating to the
camera
•Camera calibration
•Asycube calibration
•Process calibration
Fixed configurations, but it is possible to define
them as often as necessary, as this is only a
software configuration. Each vision model will
simply use one of these image configurations as
required.
Recipes
•Vibration set
•Vibration process
•Vision models
•Image acquisition
parameters
Variable configuration that can be saved and
reloaded as required.
For each model contained in the recipe, there will
be a link to a specific image configuration that will
be used to calculate the positions of the parts using
the calibrations.

© Copyright Asyril S.A.
Structure of the SmartSight
Version: C2
000.100.533 7/68
2.1. Image configuration and recipes
2.1.1. Definition of the image configuration concept
An image configuration is an element consisting of parameters which are not dependent on the
parts and which enable AsyView to function correctly and send the position of the parts
accurately. This configuration is not defined for each part specifically, but it is essential to
choose one for each model programmed. An image configuration can therefore be used for
several parts or models.
Note that everything defined in the image configuration is closely related to the camera setting,
and therefore to its field of view and resolution (see (A) in the image below).
2.1.1.1. The parameters of an image configuration
2
1
A
Figure 2-1: Parameters of the image configuration
1. Image region: Defines which part of the image is used to look for parts (an area of the
image in pixels). In most cases, this will be the whole image, which is why a default region
is already defined for this particular case.
2. Linked element: Defining the links between the elements allows you to specify "what the
camera is looking at in the defined region". There is no linked element for a control camera
since the camera is not looking at Asycube.

© Copyright Asyril S.A.
Structure of the SmartSight
Version: C2
000.100.533 8/68
2.1.1.2. Calibrations
Calibrations make it possible to match the coordinate systems of the various elements in the
system. They are closely related to the field of view and the image region, so each image
configuration will have its own calibrations.
2
1
3
Figure 2-2: Calibrations
1. The pixel/mm calibration makes it possible to convert the world coordinate system of the
camera (in pixels) to the physical system of mm (more practical). A calibration plate with a
"chequerboard" is used to define the correlation of the size of the chequerboard squares
in mm and the number of pixels in these squares. This plate can also be used to correct
distortions associated with the optical system.
This calibration is not mandatory but, if used, it is important to understand that this
calibration must be performed in the same plane as that in which the parts will be detected
(and not that in which they will be placed). There are two reasons for this:
- If the calibration is performed in another plane, one mm in the calibrated coordinate
system will not correspond to one mm in the part viewing plane (see Error!
Reference source not found.).
- The process calibration (see below), which will give the handling arm the picking
position of the part, is dependent on the pixel/mm calibration, so it is necessary to
calibrate in the same plane as the process calibration.

© Copyright Asyril S.A.
Structure of the SmartSight
Version: C2
000.100.533 9/68
Figure 2-3: Example of a calibration problem
Theoretical distance calibrated in the plane of the platform surface
Distance measured by the camera if calibrated in the plane of the platform surface
Distance measured by the camera if calibrated in the part viewing plane
It can be seen that there is an error which appears if the calibration is not carried out in the
correct plane (size and position). This can be considered negligible when the height of the
part is small, but becomes problematic if the height of the part is large or if the application
requires a high degree of accuracy.
Calibration should therefore ideally be carried out at the height of the blue plane and not of
the green plane.
2. The feeder calibration is used to transform the world coordinate system of the camera (in
pixels or in mm if the pixel/mm calibration has been performed) into the Asycube coordinate
system:
Figure 2-4: Correspondence between the vision coordinate system and the feeder

© Copyright Asyril S.A.
Structure of the SmartSight
Version: C2
000.100.533 10/68
The coordinates of the 4 corners in the two coordinate systems allow the correspondence
and orientation of the feeder to be established so that the vibrations are carried out in the
right directions (according to the orientation of the camera and/or the use of mirrors).
According to the figure shown above, this gives:
Element
X (feeder)
Y (feeder)
X (image)
Y (image)
Point 1
-1
1
0
0
Point 2
-1
-1
0
Height
Point 3
1
1
Width
0
Point 4
1
-1
Width
Height
This calibration is automatically carried out when a pixel/mm calibration of the camera is
performed. Otherwise, it must be done manually according to the orientation of the camera
in relation to the Asycube.
3. The calibration of the process (a generic term designating a robot, handling arm, etc.)
makes it possible to convert the coordinate system of the camera (in pixels or in mm if the
pixel/ mm calibration has been performed) into the coordinate system of the process. This
is essential in ensuring that the coordinates sent to the process allow it to come and pick
up the part at the right position.
The angle to be sent can be that of the vision coordinate system or that of the process, i.e.
taking into account or ignoring the process calibration.
This calibration must be performed each time the pixel/mm calibration of the camera is
changed (because the process calibration depends on the positions converted by the pixel/
mm calibration and sent by the camera).
As with the pixel/mm calibration, it is important to calibrate at the same plane as that viewed
by the camera (therefore at the height of the parts and not in the plane of the platform
surface).
Example of calibration points (viewed in pixels):
Element
X (vision)
Y (vision)
X (process)
Y (process)
Point 1
0
0
0
0
Point 2
0
Height
0
200
Point 3
Width
0
250
0
Point 4
Width
Height
250
200