Shenzhen yuejiang technology Dobot vision kit User manual

ShenZhen Yuejiang Technology Co., Ltd.

Dobot Vision Kit

Installation Guide

User Guide

Issue: V1.0

Date: 2019-09-12

Dobot Vision Kit Installation Guide

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

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

Disclaimer

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

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

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

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

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

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

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

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

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

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

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

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

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

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

ShenZhen Yuejiang Technology Co., Ltd.

Address: Floor 9-10, Building 2, Chongwen Garden, Nanshan iPark, Liuxian Blvd, Nanshan

District, Shenzhen, Guangdong Province, China

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

Dobot Vision Kit Installation Guide Preface

Preface

Purpose

This document describes the Dobot vision kit and its installation, making it easy for users to

fully understand and use it.

IntendedAudience

This document is intended for:

Customer Engineer

Sales Engineer

Installation and Commissioning Engineer

Technical Support Engineer

Change History

Date

Change Description

2019/09/09

Update vision kit specification and installation

2018/04/27

The first release

Symbol Conventions

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

Symbol

Description

DANGER

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

avoided, could result in death or serious injury

WARNING

Indicates a hazard with a medium level or low level of

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

moderate injury, robotic arm damage

NOTICE

Indicates a potentially hazardous situation which, if not

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

unanticipated result

NOTE

Provides additional information to emphasize or

supplement important points in the main text

Dobot Vision Kit Installation Guide Contents

iii

Contents

1. Vision Kit Description .............................................................................................1

Overview...........................................................................................................................1

1.2 Vision Kit List...................................................................................................................1

1.3 Camera Parameters Description........................................................................................1

1.4 Light Source Parameters Description ...............................................................................2

1.5 Camera Lens Parameters Description...............................................................................3

2. Installation Guide.....................................................................................................4

Installing Camera..............................................................................................................4

Installing Dobot Magician ..............................................................................................14

Installing Dobot M1........................................................................................................14

Dobot Vision Kit Installation Guide 1Vision Kit Description

1. Vision Kit Description

Overview

The image processing system extracts the characteristics of the objects via setting the range of

Hue, Saturation, Value and pixel area of the images obtained from vision kit, transforms image

coordinates into Cartesian coordinates and transmits to robot. Therefore, we can use robot to

complete intelligent sorting and other operations.

1.2 Vision Kit List

Figure 1.1 shows the vision kit list.

Figure 1.1 Vision kit list

1.3 Camera Parameters Description

Table 1.1 Camera Parameters Description

Parameters

Description

Camera model

MV-CE050-30UC

Sensor size

1/2.5"CMOS

Sensor model

AR0521

Effective pixels

5,000,000 pixels

Color

Pixel Size

2.2umx2.2um

Frame rate/Resolution

31 @2592×1944

SNR

>40dB

Dobot Vision Kit Installation Guide 1Vision Kit Description

Parameters

Description

Dynamic range

>60dB

Shutter type

Rolling shutter

Exposure time

Bayer format：16μs-1sec

Other formats：28μs-1sec

Exposure control

Automatic/Manual

Dimension

29mm*29mm*30mm

Data interface

USB3.0

Operating temperature

0~50°C

Lens mount

Mount C

1.4 Light Source Parameters Description

Table 1.2 Light Source Parameters Description

Parameters

Description

Light source model

JHZM-A40-W

Emitting color

White

LED quantity

48 light-emitting diode

Illumination

40000Lux

Brightness

Continuously adjustment, adjustable range: 0%-100%

The color temperature remains unchanged

Wavelength

455nm-457.5nm

Output voltage

12V

Output power

3.5W~5W

Working distance

35mm-110mm

Specifications

Internal diameter: 40mm

External diameter: 70mm

Height: 25mm

Ring Diameter Inside

Max φ39mm

Weight

0.48KG

Working environment

Temperature: 0℃-40℃

Humidity: 20%RH-85RH

Dobot Vision Kit Installation Guide 1Vision Kit Description

Parameters

Description

Storage environment

Temperature: -20℃-40℃

Humidity: 20%RH-85RH

1.5 Camera Lens Parameters Description

Table 1.3 Camera Lens Parameters Description

Parameters

Description

Lens model

MVL-HF1228M-6MP

Focal distance

12mm

Maximum imaging size

1/1.8＂(φ9mm)

Aperture range

F2.8-F16

Control

mode

Aperture

Manual

Focus

Manual

Field angle

1/1.8＂

41.2°

34.4°

23.4°

Operating temperature

-10℃-+50℃

Optical distortion

-0.38%

Back focal length

17.526mm

Shortest photography distance

0.06m

Mount

Mount C

Filter

M27*0.5

Size

φ29mm*35.36mm

Dobot Vision Kit Installation Guide 2Installation Guide

2. Installation Guide

Installing Camera

Procedure

Fix the camera flange support to the bottom of the extension pole with

screws.

Figure 2.1 Install camera flange support

Connect the two extension poles.

Figure 2.2 Connect the two extension poles

Fix the end of the extension pole with Camera flange support to the camera

holder using four M4*10 Hexagon Socket Button Head Screw.

Dobot Vision Kit Installation Guide 2Installation Guide

Figure 2.3 Fix extension pole

(Optional) If robot is Dobot M1, you have to assemble the two camera

plates with M4*6 hexagon socket countersunk head screws.

Figure 2.4 Assemble two plates

Assemble camera surpport (1) and camera surpport (2) with two M4*10

hexagon socket head cap screws. Figure 2.5 shows the installation style.

Dobot Vision Kit Installation Guide 2Installation Guide

Figure 2.5 Install camera support

Figure 2.6 Fix the camera support

Dobot Vision Kit Installation Guide 2Installation Guide

NOTICE

Please adjust the height of the camera support based on site requirements. The camera

support cannot hinder the movement of robot.

Fix the camera to the camera mounting plate with three M3*8 hexagon

socket countersunk head screws.

Figure 2.7 Fix camera plate

Fix the camera mounting plate to the camera support (2) with two M3*6

hexagon socket head cap screws and two washers.

Figure 2.8 Fix camera mounting plate

Connect camera to computer with USB cable (plug blue connector into

USB3.0 interface of computer).

Dobot Vision Kit Installation Guide 2Installation Guide

Figure 2.9 Connect camera to computer

Adjust camera parameters.

MVS is a software which can adjust camera parameter. You can get the installation

package from installation package of DobotVisionStudio.

Preparations:

MVS has been installed.

Camera has been connected to computer.

Procedures:

Run MVS，and click to connect camera.

Figure 2.10 Connect camera

Dobot Vision Kit Installation Guide 2Installation Guide

Figure 2.11 Connect camera successfully

Click to capture imaging.

Figure 2.12 Capture imaging

Adjust focal length, aperture, and exposure time according to image.

Adjust image by rotating around the focal length, and lock focal length by

rotating helix switch.

Dobot Vision Kit Installation Guide 2Installation Guide

Figure 2.13 Adjust focal length

NOTICE

If there is not enough light in the environment, turn on the light source. Please turn on or

off the light source depending on the actual requirements. For the installation of light

source, please refer to Step 11 and Step 12.

Adjust brightness by rotating aperture, and lock aperture by rotating helix

switch.

Figure 2.14 Adjust aperture

Adjust exposure time or other parameters based on site requirements until

imaging can be appeared clearly.

Dobot Vision Kit Installation Guide 2Installation Guide

Figure 2.15 Adjust exposure time or other parameters

Figure 2.16 Result imaging

Dobot Vision Kit Installation Guide 2Installation Guide

Figure 2.17 Fasten the light source kit

Connect light source switch to Magician

Connect light source switch to light source.

Connect light source switch to the power interface of Dobot Magician.

Connect light source switch to the power adapter of Dobot Magician.

Dobot Vision Kit Installation Guide 2Installation Guide

Figure 2.18 Connect light source switch

Connect light source switch to M1

Connect adapter cable to M1 light source switch, the red interfaces are 24V

power interfaces, the black interfaces are GND interfaces.

Connect M1 light source switch to light source.

Connect adapter cable to I/O interface on the base of Dobot M1.

Figure 2.19 Connect light source switch

NOTICE

If you need to use light source switch and air pump box at the same time. Please connect

the power cable of air pump box to adapter cable. As shown below, the red interfaces are

24V power interface, the black interfaces are GND interface.

Dobot Vision Kit Installation Guide 2Installation Guide

Figure 2.20 Connect air pump box

Installing Dobot Magician

Procedure

Fix Dobot Magician to the platform. For details, please see Dobot Magician User

Guide.

Adjust thecamera support to ensure that the camera can view the workspace of Dobot

Magician.

Figure 2.21 Install Dobot Magician

Installing Dobot M1

Fix Dobot M1 to the platform. For details, please see Dobot M1 User Guide.

Adjust thecamera support to ensure that the camera can view the workspace of Dobot

M1.

Dobot Vision Kit Installation Guide 2Installation Guide

Figure 2.22 Install Dobot M1

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