Doosan Robotics

PhoXi 3D Scanner/MotionCam-3D

Superior 3D vision with various sizes and scanning ranges as well as optimized features for Bin Picking. The scanning volume of the PhoXi 3D Scanner/MotionCam-3D family ranges from 15 cm up to 4 meters, allowing you to scan large as well as very small objects.

Localization

In house developed CAD-based localization algorithms with smart features for bin picking like smart memory and a quick scan

Full path planning & Collision avoidance

Path Planning optimized for 6 axis manipulators with the option of disabling the collision check for the speed boost in collision-free environments

Doosan robot Interface

Generic interface with a wide variety of commands

 

How does it work?

1) Select the robot

2) Upload the gripper

3) Upload your object

4) Set up gripping & tool points

5) Load your environment

6) Setup your part localization

7) Robot to camera calibration

8) Interactive debugging

Features & Benefits

New features included:

·        Multiple grasping methods for different vision systems - Choose the optimal grasping method for each vision system to find the most suitable picking strategy for various object shapes or bin positions.

·        Semi-automatic calibration - Automate your calibration process. All you need to do is write a simple robotic program, wait for the calibration to run till the end, and then just verify and save the results.

·        Cycle time monitoring - Get an overview of basic bin-picking statistics such as cycle times based on different action requests.

·        Remote access from another PC - Manage your bin picking remotely through a web browser using a local network.

·        Latest machine vision software - Bin Picking Studio 1.7.0 comes with the latest PhoXiControl software for PhoXi 3D Scanners.

·        Achieve faster image capture with our flagship product MotionCam-3D - Besides PhoXi 3D Scanners, BPS 1.7.0 now also supports MotionCam-3D. This opens a lot of new opportunities for your projects due to faster image acquisition times, which is ideal for hand-eye applications.

·        Set unique scanning parameters for different objects - Use one single scanner for picking objects with different shapes and materials. You can define unique scanning profiles for each object, whether you use PhoXi 3D Scanner or MotionCam-3D.

·        Define conditions for stopping object localization -In the new version of Bin Picking Studio, you can stop localization after a specific number of objects has been localized or when no new object has been localized for a certain time period.

·        Designate multiple scene states - You can define multiple scene states if the robotic cell state changes during bin picking. If you assign an object to a specific scene state, it will be present only when that scene state is active.

Standard Features included:

·        Fastest 3D Scanner/3D Camera at a given resolution with best-in-class point cloud quality

·        Reach cycle times ranging from 3 seconds and get your investment back exactly as planned

·        Our advanced methods for ambient light suppression provide superior-quality scans even in demanding light conditions of up to 20 000 LUX.

·        Thanks to its low weight of less than 1.5 kg, the PhoXi 3D Scanner can be mounted directly onto the robotic arm - a very handy option if you need to scan a big bin with a smaller scanner from variable viewpoints, or to get a detailed look at the bin corners.

·        You only need a single cable to get both electric power and data connection for a 3D scanner - Power over Ethernet.

·        PhoXi 3D Scanner offers the best-in-class thermal stability thanks to hardware enhancements together with the thermal calibration model.

·        Off-the-shelf solution

·        Proved by line in production for 3+ years with fast ROI

·        Experience with integrations in various applications worldwide (1500+)

·        Full path planning and collision avoidance

·        The system considers all the obstacles as collision objects, including the model of the robot

·        Designed for robotic integrators & users

·        Easy and intuitive web-based configurator

·        In production ML-based localization engines

·        Configuration in a virtual environment

·        Easy calibration

·        Virtual debugging

·        Environment builder

·        Fast deployment

·        World-class customer support - free of charge feasibility and consultancy

What’s in the box - https://youtu.be/H8QzJWXWzHE

·        Pre-calibrated PhoXi 3D Scanner - possibility to choose from XS, S, M, L, or XL size according to desired scanning range/scanning area

·        Vision controller running Bin Picking Software (Industrial grade device)

·        PhoXi® Control App and Localization SDK software

·        Power adaptor (230VAC/20VDC, 160W)

·        Ethernet cable

·        Power cable

·        Power adaptor for Vision Controller

·        Calibration object

·        License key

·        Communication with Doosan Robots

·        Documentation

Specifications (specifications for MotionCam-3D Camera may vary to PhoXi 3D Scanner)

·        The PhoXi 3D Scanners use structured light patterns to acquire 3D data: https://www.photoneo.com/phoxi-3d-scanner

·        The MotionCam-3D is using novel and patented technology of Parallel Structured Light: https://www.photoneo.com/motioncam-3d 

·        Integrated GPU - New NVIDIA Jetson TX2 4GB processing unit

·        Light source: visible red light (laser)

·        Laser Class3R/Laser Class 2 device

·        Scanning time with PhoXi 3D Scanner:  250 - 2000 ms

·        Data acquisition time with MotionCam-3D:  10 ms +

·        Ambient temperature: From -20 °C to 50 °C (max gradient 10 °C/hour)

·        Operating temperature for optimal scanning performance: From 22 °C to 25 °C

·        Overall operating temperature: From 0 °C to 45 °C

·        Humidity: From 0 % to 95 % non-condensing

·        Atmospheric pressure: From 1080 hPa to 660 hPa (corresponding to an altitude of 1000 m to 3500 m)

·        Maximum acceleration: 20 ms-2

·        PhoXi 3D Scanner Resolution (number of 3D points): Up to 3.2 Million

·        MotionCam-3D Resolution (number of 3D points): Up to 2 Million in scanner mode/Up to 0.9 Million in dynamic mode

·        PhoXi 3D Scanner 3D points throughput - Number of 3D points that can be reconstructed in a second in sequential scans: 16 Million

·        GPU NVIDIA Pascal™ Architecture GPU with 256 CUDA cores

·        IP65 Mechanical Protection. Completely protected against the ingress of dust (dust-tight). Protected against low-pressure jets of water from any direction.

·        The Bin Picking solution uses Ethernet communication for main communication between the Vision Controller, 3D Scanner, and Robot Controller.

Compatibility

Compatible with Doosan Robotics models:

·        Doosan A0509 (Rapid IK unsupported)

·        Doosan A0912

·        Doosan H2017 (Rapid IK unsupported)

·        Doosan M0609

·        Doosan M0617 (Rapid IK unsupported)

·        Doosan M1013 (Rapid IK unsupported)

·        Doosan M1509 (Rapid IK unsupported)

Dimensions/CAD data/Manuals

https://www.photoneo.com/downloads/device-resources

3rd party Drivers

https://www.photoneo.com/downloads/3rd-party-drivers

Certifications & Standards

PhoXi 3D Scanner certifications: Laser certification (LC3, LC2), FCC IC, CE, EMC, FDA, RoHS, REACH

According to standard EN 60529 PhoXi 3D Scanners have the following mechanical protection: IP65 Mechanical Protection (Completely protected against the ingress of dust (dust-tight). Protected against low-pressure jets of water from any direction.)

Vision controller certifications: CE/FCC Class A, according to EN 55022 & EN 55024 EN 50155:2007