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Explore the mystery of flying-the realization of high-speed and high-precision flying

Explore the mystery of flying-the realization of high-speed and high-precision flying

(Summary description)Unlike typical motion control systems such as canning and printing applications that have already achieved core processes such as "cans" and "printing" during the movement process

Explore the mystery of flying-the realization of high-speed and high-precision flying

(Summary description)Unlike typical motion control systems such as canning and printing applications that have already achieved core processes such as "cans" and "printing" during the movement process

Information

Explore the mystery of flight-the realization of high-speed and high-precision flight shooting

Unlike typical motion control systems such as canning and printing applications that have already achieved core processes such as "cans" and "printing" during the movement process, the current machine vision systems such as assembly, measurement, and applications are generally static shooting. During the shooting process, the continuous start and stop of the motion mechanism will lengthen the cycle time of the equipment on the one hand, and cause mechanical vibration on the other hand, which will cause the loss of accuracy of the vision system. High-speed, high-precision flight shooting is the core requirement of mainstream automation equipment in the future.

 

 

The real-time nature of trigger shooting during movement, the real-time acquisition and processing of images, and the high-performance light source system are the key technologies to achieve high-speed and high-precision flight shooting.

The ProU flight shooting solution is based on the motion control system of the EtherCAT bus, based on the EtherCAT distributed clock (Distributed Clock) technology, and the clock calibration of each node is completely based on hardware. The time of the first slave device with distributed clock function is periodically released to other devices in the system. Using this mechanism, other slave clocks can be adjusted accurately based on the reference clock. The jitter of the entire system is much less than 1 µs. From the time the driver arrives at the camera position to when the camera completes the camera trigger, the accuracy of the entire cycle can be controlled within 1µs, which is one of the core factors that determine the accuracy of flying photos.

 

The ProU machine control platform is a PC-based control system. In order to ensure the performance and stable execution, the motion and logic control runs on the real-time operating system (RTOS). Compared with the unpredictability of the Windows application execution cycle (occasionally 30 to 100 µs) Delay), the application on the real-time system can run stably within 50µs of jitter. The vision system for flight shooting applications also has such a demand. Therefore, we transplanted the vision algorithm and GigE protocol to the real-time system to obtain the best stability and execution efficiency.

 

 

 In addition, after the vision algorithm runs, alignment calculations and motion control are generally started. The soft PLC based on the real-time system can quickly obtain the results of the image algorithm and start motion control to achieve the excellent performance and stability of the machine. The performance comparison can refer to the following figure:

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  2. The "Faraday" series of light source systems jointly developed by the ProU team and the Wordop team have optimized brightness and response time for flight shooting. The response time of external trigger signal input is 500-600ns. In addition, the "Faraday" series of EtherCAT bus light source controllers will soon come out, which will further enhance the response performance and flexibility of the light source system.
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  Based on EtherCAT's excellent real-time performance, real-time vision technology and optimized light source system, we have achieved amazing operating results under laboratory conditions under reliable mechanical precision: ProU flight shooting system at 1.8m/s flight speed The repeat accuracy can reach 0.2 pixel accuracy.

The ProU machine control platform is an open automation platform. We look forward to working with professional image algorithm companies to jointly explore the new frontier of high-performance vision systems!

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