Use of the omron f150-3 camera for the positioning of randomly distributed parts

Abstract

The article discusses the development of a testing workplace for the handling of 3D objects. The workplace is equipped with an industrial SCARA robot, an intelligent input conveyor, pallet and depalletizing equipment, a vibrating feeder and vibrating trays, switch effectors, universal gripper, and other components. The workplace is also equipped with two OMRON F150-S1 cameras, which are used to create a 3D camera system. The article describes how the 3D camera system is used to determine the position of objects on the conveyor belt. The system first uses the density averaging function to determine the average optical density of the region without any objects. This value is then used as a threshold to determine whether an object is present in the workspace. If an object is present, the system uses the gravity and area functions to calculate the X and Y coordinates of the object from the center of the measuring platform. The system then uses the edge position function to calculate the Z coordinate of the object.