Machine vision for robotics and GPS (1987)

Alternating frames from various automated lines.

The use of robots with technical vision systems (STZ).

Collage of frames with systems using STZ.

Says Candidate of Technical Sciences V.I. Rybak from the Institute of Cybernetics of Ukraine.

Cartoon explaining the STZ.

Samples of primary converters of a light signal into an electric one.

Preprocessors.

They are used for image sampling, quantization of the video signal by a given number of brightness gradations, preprocessing by encoding the image in the form accepted in the processing system, adaptive adjustment of quantization thresholds and noise filtering.

The image processing process is shown.

The processor performs image processing, feature extraction, and comparison with models of acceptable classes.

As a result, the class to which the image belongs is set, the coordinates of the center of gravity and its orientation are determined.

As a result, the robot captures the part and performs the necessary manipulations.

By calibrating the STZ, the relationship of the coordinate system of the image receiver with the coordinate system of the manipulator is determined.

The work of the manipulator developed at the ZIL enterprise.

The manipulator sorts the parts and cassettes.

Continuation of the story of Candidate of Technical Sciences V.I. Rybak.

A robot with STZ used in a flexible production system.

A transport robot created at the Central Research Institute of the RTC of the Leningrad Polytechnic Institute.

This robot is used to transport packages with parts from an automated warehouse to the processing site.

With the help of the STZ, the route line is tracked on the control background.

STZ is used to control welding robots and other welding machines.

Development of the Moscow Research Institute of Steel Pipelines.

STZ is used to control the parameters of products, for example, to measure the outer diameter.

In a particular case, a camera on a CCD ruler is used, which allows you to determine the dimensions of the part with high accuracy, the development of an experimental research institute of metal-cutting machines.

A manipulator with a TV camera that expands the possibilities of technical vision.

The system is used for precise guidance on the captured object, the development of the scientific and educational center "Robotics".

The programmer compiles a program for the manipulator.

The robot allows you to determine the class and position of the part.

The robot works together with the Electronics 60 machine.

The STZ sensor is used as an image input.

The development provides for the preliminary organization of the environment, the definition of the class, position and orientation of the object.

The letters located in a mess, the manipulator puts in the order in which they should lie.

Development of the Moscow association "Spectrum".

The next manipulator with the help of STZ on the end of the parts determines their class, position, orientation in the initial state, and then puts them into a given design.

The assembly operation follows the eye-hand system.

Development of an experimental research institute of metal-cutting machines.

A cartoon explaining the principle of stereovision in robotics.

Structured illumination can be used to recognize three-dimensional details.

A cartoon explaining the principle of structured illumination.

Continuation of the story of Candidate of Technical Sciences V.I. Rybak.

The basic model of the STZ IK-1 includes the possibility of building vision systems of varying degrees of complexity.

The first stage of the system is designed to work with black and white images.

Based on the basic model, a color raster display device has been created, designed to implement the dialog mode of the robot control system and forecasting of production processes.

A cartoon explaining the use of technical vision in flexible production systems.

Continuation of the story of Candidate of Technical Sciences V.I. Rybak.

Collage of developments of various scientific institutions of the country.

The space station.