International Trends in Manufacturing Technology ROBOT VISION. Edited by Professor Alan Pugh, University of Hull, UK

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1 International Trends in Manufacturing Technology ROBOT VISION Edited by Professor Alan Pugh, University of Hull, UK Springer-Verlag Berlin Heidelberg GmbH 1983

2 British Library Cataloguing Publication Data Robot Vision 1. Information display systems i. Pugh, Alan '0414 TK ISBN ISBN (ebook) DOI / Springer-Verlag Berlin Heidelberg Originally published by IFS (Publication) Ltd., U.K. and Springer-Verlag, Berlin, Heidelberg, New York in 1983 Softcover reprint of the hardcover 1 st edition 1983 The work is protected by copyright. The rights covered by this are reserved, in particular those of translating, reprinting, radio broadcasting, reproduction by photo-mechanical or similar means as well as the storage and evaluation in data processing installations even if only extracts are used. Should individual copies for commercial purposes be made with written consent of the publishers then a remittance shall be given to the publishers in accordance with 54, Para 2, ofthe copyright law. The publishers will provide information on tbe amount ofthis remittance. Typesetting by Fotographics (Bedford) Limited.

3 Acknowledgements IFS (Publications) Limited wishes to express its acknowledgement and appreciation to the following publishers/organisations for supplying the articles reprinted within its contents. Japan Industrial Robot Association, c/o Kikaishinko Bldg., Shibakoen, Minato-ku, Tokyo, Japan. Hitachi Ltd., Nippon Building, 6-2, 2-chome, Ohtemachi, Chiyoda-ku, Tokyo 100,Japan. Crane, Russak & Co. Inc., 3 East 44th Street, New York, N.Y , U.S.A. Science and Engineering Research Council, Swindon, Wilts, U.K. The MIT Press, 28 Carleton Street, Cambridge, Massachusetts 02142, U.S.A. Carl Hanser GmbH & Co. "Feinwerktechnik & Messtechnik", Kolbergerstrasse 22, 8000 Munchen 80, Germany. Society ofmanufacturing Engineers, One SME Drive, PO Box 930, Dearborn, Michigan 48128, U.S.A. The Institution ofelectrical Engineers, Savoy Place, London WC2ROBL, U.K. Institute ofelectrical & Electronic Engineers, 345 East47 Street, NewYork,N.Y.10017, U.S.A.

4 About this Series International Trends and Manufacturing Technology The advent of microprocessor controls and robotics is rapidly changing the face of manufacturing throughout the world. Large and small companies alike are adopting these new methods to improve the efficiency of their operations. Researchers are constantly probing to provide even more advanced technologies suitable for application to manufacturing. In response to these advances IFS (Publications) Ltd., is to publish a new series of books on topics that will highlight the developments that are taking place in manufacturing technology. The series aims to be informative and educational. Subjects to be covered in the new series will include: Robot vision Visual inspection Flexible assembly automation Automated welding systems Flexible manufacturing systems Lasers in manufacturing The series is intended for manufacturing managers, production engineers and those working on research into advanced manufacturing methods. Each book will be published in hard cover and will be edited by a specialist in the particularfield. The first in the series - Robot Vision - is under the editorship of Professor Alan Pugh, Head of Department of Electronic Engineering, University of Hull, England, UK. The series editors are: Jack Hollingum, John Mortimer, Brian Rooks. Finally, I express my gratitude to the authors whose works appear in this publication. John Mortimer, Managing Director, IFS (Publications) Limited

5 PREFACE Over the past five years robot vision has emerged as a subject area with its own identity. A text based on the proceedings of the Symposium on Computer Vision and Sensor-based Robots held at the General Motors Research Laboratories, Warren, Michigan in 1978, was published by Plenum Press in This book, edited by George G. Dodd and Lothar Rosso!, probably represented the first identifiable book covering some aspects of robot vision. The subject of robot vision and sensory controls (RoViSeC) occupied an entire international conference held in the Hilton Hotel in Stratford, England in May This was followed by a second RoViSeC held in Stuttgart, Germany in November The large attendance at the Stratford conference and the obvious interest in the subject of robot vision at international robot meetings, provides the stimulus for this current collection of papers. Users and researchers entering the field of robot vision for the first time will encounter a bewildering array of publications on all aspects of computer vision of which robot vision forms a part. It is the grey area dividing the different aspects of computer vision which is not easy to identify. Even those involved in research sometimes find difficulty in separating the essential differences between vision for automated inspection and vision for robot applications. Both of these are to some extent applications of pattern recognition with the underlying philosophy of each defining the techniques used. The contributors to this book have been identified from those in our community who have demonstrated a track record in robot vision and the papers, most of which have been published previously elsewhere, have been selected as the most recent representative contributions from these authors. The aim of the book, therefore, is to bring together the most significant work of those active in all aspects of robot vision to form a nucleus of knowledge representing the current 'state ofthe art'. The first two papers give introductory reviews, which are intended to support the contributions which follow. Subsequent papers cover aspects of image processing for robot applications through to a description of commercial vision systems available today. It is the realisation of suitable vision sensors, coupled with the illumination of the work area and supported by elegant software which forms the key to successful robot vision. Perhaps the most active area of application which illustrates this point, arises under the heading of weld guidance, where the promise of robot vision and elementary structured light is most evident. Robot vision must play its part in sensor guided assembly to complement the work on tactile wrists and grippers. In the act of component retrieval, it is robot vision which will dominate as the primary sense. Readers will note that the commercially available robot systems are designed primarily for high speed scene analysis and will not

6 always accommodate the more precise requirements for automated inspection. It is important to recognise the difference in application area to understand the important properties of these commercial vision systems. After digesting the contents of this book, readers will be left in no doubt that robot vision and its application to robot technology is in its infancy. Those of us who have been involved in the area for more than a decade, find that the successful application of robot vision is tempered by the problem areas which the technology is itself identifying. It is an exciting field with enormous challenge. Only with relentless pursuit will second generation robotics become an industrial reality by incorporating robot vision and other sensory methods as an essential part of the specification. The editor wishes to express his appreciation to all who have contributed to this book. A particular vote of thanks is offered to Dr. B. W. Rooks who looked after the detailed negotiations with authors and the publisher. Alan Pugh, September 1982 Hull viii

7 Chapter 1: Reviews CONTENTS Second generation robotics A. Pugh, Universtiy of Hull, UK Computer vision in industry-the next decade L. Rosso(, General Motors Research Laboratories, USA Chapter2: Visual Processing Techniques Processing of binary images P. W. Kitchin, Patscentre, Benelux, Belgium and A. Pugh, University of Hull, UK Recognising and locating partially visible objects: the local-feature-focus method R. C. Bolles and R. A. Cain, SRI International, USA The coupling of a workpiece recognition system with an industrial robot G. Nehrand P. Martini, lnstitutfur lnformatik Ill, University of Karlsruhe, Germany Evaluating vision system performance C. A. Rosen and G. J. Gleason, Machine Intelligence Corp., USA Chapter3: Research Adaptive visual servo control or robots A. C. Sanderson and L. E. Weiss, Carnegie-Mellon University, USA Use of at-v camera system in closed-loop position control of mechanisms P. Y. Coulon and M. Nougaret, E.N.S.I.E.G., France

8 Towards a flexible vision system D. Faugeras, F. Germain, G. Kryze,J. D. Boissonnat, M. Herbert, J. Ponce, E. Pauchon and N. Ayache, IN R la, France The use of taper light beam for object recognition Dai Wei and M. Gini, Milan Polytechnic, Italy Chapter4: Developments-Weld Guidance Present industrial use of vision sensors for robot guidance P. Villers,Automatix Inc., USA A visual sensor for arc-welding robots T. Bamba, H. Maruyama, E. Ohno andy. Shiga, Mitsubishi Electric Corporation, Japan Vision guided robotsystemforarc-welding I. Masaki, M. J. Dunne and H. Toda, Unimation/Kawasaki Joint Development Team, USA Progress in visual feed-back for arc-welding of thin sheet steel W. S. Clocksin, P. G. Davey, C. G. Morgan and A. R. Vidler, University of Oxford, UK ChapterS: Developments-Assembly I Part Presentation lntelligentassemblyrobot M. Kohno, H. Horino, M.lsobe, Production Engineering Research Laboratory, Hitachi Ltd., Japan Simple assembly under visual control P. Sa raga and B. M. Jones, Philips Research Laboratories, UK A robot system which acquires cylindrical workpiecesfrom bins R. B. Kelley,J. R. Birk, H.A. S. Martins and R. Tella, University of Rhode Island, USA Flexible assembly module with vision control robot W. B. Heginbotham, D. F. Barnes, D. R. Purdue and D. J. Law, PERA, UK X

9 Chapter&: Applications Vision system sorts castings at General Motors Canada R. Baumann, General Motors of Canada Ltd. and D. A. Wilmhurst, R.M.T. Engineering Ltd., Canada Pattern recognition in the factory: an example J.-P. Hermann, R.N.U.R., France A C. C. T.V. camera controlled painter E. Johnston, Haden Drysys International Ltd., UK Forging: Feasible robotic techniques R. B. Kelley, J. Birk, J. Dessimoz, H. Martins and R. Tell a, University of Rhode Island, USA Automatic chocolate decoration by robot vision A.J. Crenshaw, Patscentre International, UK Chapter7: Commercial Robot Vision Systems OMS-vision system P. F. Hewkin and H.-J. Fuchs, BBC Brown, Boveri & Cie, Germany The PUMA/ VS-100 robot vision system B. Carlisle and S. Roth, Unimation Inc., USA and G. J. Gleason and D. McGhie, Machine Intelligence Corp., USA S.A.M. Opto-electronic picture sensor in a flexible manufacturing system W. Brune and K. H. Bitter, Robert Bosch, GmbH, Germany Vision system separates gathering from processing G. I. Robertson, Control Automation Inc., USA Westinghouse grey scale vision system for real-time control and inspection A. G. Makhlin and G. E. Tinsdale, Westinghouse Electric Corp., USA Authors' organisations and addresses xi