Matrox Imaging Library Helps Delta Robot Sort Biscuits
The robot cell is powered by a CELL in-house designed PC. Before a batch is packaged, an operator specifies the products and tray type that the robot will handle. A Sony XC-HR50 grayscale camera is installed inside an enclosure at the top of the machine, giving a bird's eye view of the conveyor. As the cookies travel, a Matrox 4Sight M embedded vision system signals the camera and a Matrox Meteor-II/Multi-Channel frame grabber acquires the images. The image acquisition and analysis software is based on the Matrox Imaging Library (MIL). Geometric pattern matching algorithms determine the shape and locate the specific cookies the robot must pick up. Grayscale analysis determines the quality of the cookie, and even the quality of the chocolate coating on the cookie. The analysis results also prevent the robot from placing broken or over-baked cookies into the package. Finally, the robot must place the top cookie right-side up in the tray; the image analysis ensures that the upside-down cookies don't make it to the top position in the stack.