Copyright © 2014 Rockwell Automation, Inc. All Rights Reserved.
PUBLIC INFORMATION
3D Vision Capitalizing on the Rockwell
...
3D Vision Capitalizing on the
Rockwell® Integrated
Architecture:
See how easily 3D Machine Vision can be
implemented and h...
Agenda
‣ 3D Vision Overview
‣ Traditional 3D Vision
‣ EtherNet/IP 3D Vision
‣ PAC (Logix) Applications
‣ Questions
Hermary Opto Overview
‣ Founded in 1990 - Vancouver, BC
‣ Design and Manufacture 3D Machine Vision
‣ >14,000 installed wor...
Traditional 3D Machine Vision Application
Why 3D Machine Vision
‣ Market forces are driving manufacturers to capitalize on
technology to remain competitive.
‣ 3D Ma...
3D Machine Vision by Industry*
*Courtesy: David Dechow - Aptura Vision Solutions
3D Vision Configuration
3D Machine Vision Technology
‣ Laser Triangulation
‣ Integrated imager/illumination/processing
‣ Factory calibrated to a C...
SL–1880E: Orange Point Cloud
X Y Z
26716 -5456 12120
26716 -5424 12120
26716 -5392 12120
26704 -5364 12120
26696 -5336 121...
IET-EtherNet/IP Architecture
Point Cloud
SL-1880E PAC-Controller
PAC/PLC - Decision
Processing
CIP
EtherNet/IP
Application...
Information Extraction Tools (IET)
‣ Finite number of Generic Functions
‣ One IET per scanner
‣ Processing in scanner
‣ Ke...
Determination of Max/Min: Extrema
‣ From 659 XY points per scan
‣ Identify 4 key points:
‣ Compression ratio:
 Data: Info...
Extrema
Orange Size: Extrema
IET’s
 Extrema
 Curvature
 CircleFit
 others …

Beef Processing
Today’s Example
Development Team
‣ Midwest Machine
• Smart Rib Saw Mfg
• PAC software
• Primary customer interface
• Rockwell OEM
‣ Rockwe...
Key Feature Identification
Beef Point Cloud
Hermary IET & Rockwell PAC Application
SL-1880E PAC-Controller
PAC/PLC - Decision
Processing
CIP
EtherNet/IP
Application S...
Midwest Machine - Smart Rib Saw
Determination of Curvature
‣ (X,Y) coordinate for the 4 following
points
 Highest Antapex (concave)
 Second Antapex
 Hi...
Curvature
IET’s
 Extrema
 Curvature
 CircleFit
 others …

Highest Antapex
Second Highest Antapex
Highest Apex
Second
...
Curvature – Point Cloud
IET’s
 Extrema
 Curvature
 CircleFit
 others …

IET – Curvature PAC Tag Information
Bytes Tag Name Tag Type Comment
Scan_Data HO_SL_Curvature HO supplied data structure
0...
PAC (Controller) Smart Saw Programming
‣ PAC receives Curvature and Extrema information in
EtherNet/IP packets
‣ PAC progr...
‣ Drives the Convergence of
Control and Information for
Plantwide Optimization
‣ How: By leveraging
exceptional, industry-...
Project's Hardware Platforms list
HW Platform Type HW Platform Name
Compact Processor
Point I/O Start/Stop Box
View PanelV...
Switch Layout
‣ Performance Data:
‣ Ctlr1 (Controller 1769-L30ERM in slot 0)
‣ Usage Breakdown
EtherNet/IP Nodes 7
Motion Position Axes ...
Smart Saw Summary
‣ Target = 8000 cuts/day
‣ Return = ROI estimated 6 months
‣ Benefits = Huge Safety Payback
‣ Benefits =...
Other 3D Machine Vision Applications
‣ IET CircleFit
‣ IET Extrema – Process Control
‣ Vision Guided Robotics – Commercial...
Cardboard Tube: CircleFit IET
IET’s
 Extrema
 Curvature
 CircleFit
 others …

Pizza: Extrema IET
IET’s
 Extrema
 Curvature
 CircleFit
 others …

Bakery- Vision Guided Robotics
Icing Art: Robot guided by 3D vision
Hot Steel: Robotic Tagging
Hot Steel: Robotic Tagging
PLC vs PAC*
*Courtesy: Bin95.com
“The more people who clearly understand the
differences the better off we all are in the ...
Questions?
RSTechED
Booth Demo
RAOTM Chicago
July 30-31
Chicago, IL
Automation Fair
Nov. 19-20
Anaheim, CA
Contact Us
For ...
Copyright © 2014 Rockwell Automation, Inc. All Rights Reserved.
We care what you think!
 On the mobile app:
1. Locate ses...
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Hermary Opto Electronics, Inc.: 3D Vision Capitalizing on the Rockwell Automation Integrated Architecture

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See how easily 3D Machine Vision can be implemented and how 3D Vision Data can be sent directly via EtherNet/IP into a Rockwell Automation PAC, enabling and empowering new productivity applications for manufacturers. Hermary 3D Vision technology and architecture will be reviewed, and various applications discussed.

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Hermary Opto Electronics, Inc.: 3D Vision Capitalizing on the Rockwell Automation Integrated Architecture

  1. 1. Copyright © 2014 Rockwell Automation, Inc. All Rights Reserved. PUBLIC INFORMATION 3D Vision Capitalizing on the Rockwell Automation Integrated Architecture: Hermary Opto Electronics, Inc.
  2. 2. 3D Vision Capitalizing on the Rockwell® Integrated Architecture: See how easily 3D Machine Vision can be implemented and how 3D Vision Data can be sent directly via EtherNet/IP into a Rockwell Automation PAC, enabling and empowering new productivity applications for manufacturers. Hermary 3D Vision technology & architecture will be reviewed, and various applications discussed.
  3. 3. Agenda ‣ 3D Vision Overview ‣ Traditional 3D Vision ‣ EtherNet/IP 3D Vision ‣ PAC (Logix) Applications ‣ Questions
  4. 4. Hermary Opto Overview ‣ Founded in 1990 - Vancouver, BC ‣ Design and Manufacture 3D Machine Vision ‣ >14,000 installed worldwide ‣ Market Channels – RA OEMs and Solution Providers ‣ Trusted brand in wood processing industry ‣ Reputation for Quality, Reliability and Technology
  5. 5. Traditional 3D Machine Vision Application
  6. 6. Why 3D Machine Vision ‣ Market forces are driving manufacturers to capitalize on technology to remain competitive. ‣ 3D Machine Vision is a key (and new to many) enabling technology. ‣ 3D Machine Vision technology is proven, reliable, and applicable across all industry segments. ‣ Key drivers: increased flexibility, productivity and velocity.
  7. 7. 3D Machine Vision by Industry* *Courtesy: David Dechow - Aptura Vision Solutions
  8. 8. 3D Vision Configuration
  9. 9. 3D Machine Vision Technology ‣ Laser Triangulation ‣ Integrated imager/illumination/processing ‣ Factory calibrated to a Cartesian Plane ‣ Generate XY coordinates of surface (profile) ‣ Z coordinate from relative motion (encoder) ‣ Point Cloud – XYZ points - 3D profile
  10. 10. SL–1880E: Orange Point Cloud X Y Z 26716 -5456 12120 26716 -5424 12120 26716 -5392 12120 26704 -5364 12120 26696 -5336 12120 26692 -5308 12120 26684 -5276 12120 26676 -5248 12120 26668 -5216 12120 26656 -5184 12120 26652 -5156 12120 26648 -5128 15840 26644 -5096 15840 26636 -5064 15840 26628 -5036 15840 26616 -5004 15840 26608 -4976 15840 26600 -4944 15840
  11. 11. IET-EtherNet/IP Architecture Point Cloud SL-1880E PAC-Controller PAC/PLC - Decision Processing CIP EtherNet/IP Application Solution SL-1880E Information Extraction Tools  Extrema  Curvature  CircleFit  others … * Patent Applied
  12. 12. Information Extraction Tools (IET) ‣ Finite number of Generic Functions ‣ One IET per scanner ‣ Processing in scanner ‣ Key information extracted on a per scan basis (XY plane) IET’s  Extrema  Curvature  CircleFit  others …
  13. 13. Determination of Max/Min: Extrema ‣ From 659 XY points per scan ‣ Identify 4 key points: ‣ Compression ratio:  Data: Information  Greater than 100:1 (Xmin,Y), (Xmax,Y), (X,Ymin), (X,Ymax)[ ] IET’s  Extrema  Curvature  CircleFit  others … 
  14. 14. Extrema
  15. 15. Orange Size: Extrema IET’s  Extrema  Curvature  CircleFit  others … 
  16. 16. Beef Processing
  17. 17. Today’s Example
  18. 18. Development Team ‣ Midwest Machine • Smart Rib Saw Mfg • PAC software • Primary customer interface • Rockwell OEM ‣ Rockwell Automation® • Integrated Architecture expertise ‣ Hermary • 3D Machine Vision with EtherNet/IP • Curvature and Extrema IET’s • Rockwell Encompass Partner ‣ Major Beef Processor • Customer • Domain expertise • Test samples • BETA site
  19. 19. Key Feature Identification
  20. 20. Beef Point Cloud
  21. 21. Hermary IET & Rockwell PAC Application SL-1880E PAC-Controller PAC/PLC - Decision Processing CIP EtherNet/IP Application Solution SL-1880E Information Extraction Tools  Extrema  Curvature  CircleFit  others … * Patent Applied Point Cloud 
  22. 22. Midwest Machine - Smart Rib Saw
  23. 23. Determination of Curvature ‣ (X,Y) coordinate for the 4 following points  Highest Antapex (concave)  Second Antapex  Highest Apex (convex)  Second Apex IET’s  Extrema  Curvature  CircleFit  others … 
  24. 24. Curvature IET’s  Extrema  Curvature  CircleFit  others …  Highest Antapex Second Highest Antapex Highest Apex Second Highest Apex
  25. 25. Curvature – Point Cloud IET’s  Extrema  Curvature  CircleFit  others … 
  26. 26. IET – Curvature PAC Tag Information Bytes Tag Name Tag Type Comment Scan_Data HO_SL_Curvature HO supplied data structure 0-43 ‣ Scan_Data.Header HO_SL_BLOB_Hdr See Table 1 44 ‣ Scan_Data.CurvatureStatus SINT Status Codes 45 ‣ Scan_Data.Reserved1 SINT Reserved 46-47 ‣ Scan_Data.Reserved2 INT Reserved ‣ Scan_Data.Antapex1 HO_SL_XY_Curvature_Point First Concave candidate. 48-51 ‣ Scan_Data.Antapex1.X DINT X coordinate (mils) 52-55 ‣ Scan_Data.Antapex1.Y DINT Y coordinate (mils) 56-59 ‣ Scan_Data.Antapex1.Curvature REAL Curvature at this point ‣ Scan_Data.Antapex2 HO_SL_XY_Curvature_Point Second Concave candidate 60-63 ‣ Scan_Data.Antapex2.X DINT X coordinate (mils) 64-67 ‣ Scan_Data.Antapex2.Y DINT Y coordinate (mils) 68-71 ‣ Scan_Data.Antapex2.Curvature REAL Curvature at this point ‣ Scan_Data.Apex1 HO_SL_XY_Curvature_Point First Convex candidate 72-75 ‣ Scan_Data.Apex1.X DINT X coordinate (mils) 76-80 ‣ Scan_Data.Apex1.Y DINT Y coordinate (mils) 80-83 ‣ Scan_Data.Apex1.Curvature REAL Curvature at this point ‣ Scan_Data.Apex2 HO_SL_XY_Curvature_Point Second Convex candidate 84-87 ‣ Scan_Data.Apex2.X DINT X coordinate (mils) 88-91 ‣ Scan_Data.Apex2.Y DINT Y coordinate (mils) 92-95 ‣ Scan_Data.Apex2.Curvature REAL Curvature at this point
  27. 27. PAC (Controller) Smart Saw Programming ‣ PAC receives Curvature and Extrema information in EtherNet/IP packets ‣ PAC programming: Ladder Logic and Structured Text ‣ Saw motion (CAM) path generated and sent to motion controller
  28. 28. ‣ Drives the Convergence of Control and Information for Plantwide Optimization ‣ How: By leveraging exceptional, industry-leading features and products like the Hermary 3D Scanner ‣ The Integrated Architecture system provides the foundation to drive plantwide optimization efficiently and effectively. Integrated Architecture
  29. 29. Project's Hardware Platforms list HW Platform Type HW Platform Name Compact Processor Point I/O Start/Stop Box View PanelView PowerFlex Band Saw 1 PowerFlex Band Saw 2 PowerFlex Conveyor Kinetix 5500 Saw 1 Motion Kinetix 5500 Saw 2 Motion SL-1880E Curvature SL-1880E Extrema EtherNet/IP Conveyor Position Architecture View
  30. 30. Switch Layout
  31. 31. ‣ Performance Data: ‣ Ctlr1 (Controller 1769-L30ERM in slot 0) ‣ Usage Breakdown EtherNet/IP Nodes 7 Motion Position Axes 2 Memory Used 21 KB Memory Available 977 KB Remaining Memory 956 KB User Task Minimum Period 0.0 msec User Task Rung Capacity 3878 rungs Continuous Task Scan Time 0.0 msec Input Cycle Utilization (Drive to Controller) 23.1% Output Cycle Utilization (Controller to Drive) 16.8% Motion Task I/O Cycle Utilization 14.4% Logix Controller Utilization 6.2% Logix System Minimum Time Slice 5.4% Chassis / Device Name EtherNet/IP Nodes Motion Position Axes Memory Used Processor(Local) 0 0 0 bytes Saw 1 Motion 1 1 8 KB Saw 2 Motion 1 1 8 KB Platform Processor
  32. 32. Smart Saw Summary ‣ Target = 8000 cuts/day ‣ Return = ROI estimated 6 months ‣ Benefits = Huge Safety Payback ‣ Benefits = Huge Production & Quality Payback ‣ Next steps  Immediate production throughput reporting  Production management  Historian  Technology applied to other production centres  Technology applied to other industries
  33. 33. Other 3D Machine Vision Applications ‣ IET CircleFit ‣ IET Extrema – Process Control ‣ Vision Guided Robotics – Commercial Bakery ‣ Vision Guided Robotics – Hot Steel Tagging
  34. 34. Cardboard Tube: CircleFit IET IET’s  Extrema  Curvature  CircleFit  others … 
  35. 35. Pizza: Extrema IET IET’s  Extrema  Curvature  CircleFit  others … 
  36. 36. Bakery- Vision Guided Robotics Icing Art: Robot guided by 3D vision
  37. 37. Hot Steel: Robotic Tagging
  38. 38. Hot Steel: Robotic Tagging
  39. 39. PLC vs PAC* *Courtesy: Bin95.com “The more people who clearly understand the differences the better off we all are in the industry.” – Don Fitchett, Bin95.com
  40. 40. Questions? RSTechED Booth Demo RAOTM Chicago July 30-31 Chicago, IL Automation Fair Nov. 19-20 Anaheim, CA Contact Us For a private WebEx (604) 517-4625
  41. 41. Copyright © 2014 Rockwell Automation, Inc. All Rights Reserved. We care what you think!  On the mobile app: 1. Locate session using Schedule or Agenda Builder 2. Click on the thumbs up icon on the lower right corner of the session detail 3. Complete survey 4. Click the Submit Form button 41 Please take a couple minutes to complete a quick session survey to tell us how we’re doing. 2 3 4 1 Thank you!!

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