Camera QA Example

With this QA example users can choose what part of vehicle inspect with camera.

HMI Panel File

camera_qa.hmi

225KB

Open

Robot Program File

# Robot script file
# QA result for each part
label_ok = False
break_ok = False
mirror_ok = False
handle_ok = False
door_ok = False
hinge_ok = False

# user choice - selected part will be inspected
check_label = False
check_break = False
check_mirror = False
check_handle = False
check_door = False
check_hinge = False

home = [1.54, -1.21, -1.91, -3.17, -0.03, -3.14]

# inspection function for each part
def qa_label():
    movej([0.50, -0.95, -2.46, -2.87, -1.07, -3.14])
    movel(p[0.401, -0.560, 0.513, -1.21, 1.21, -1.21])
    movel(p[0.401, -0.060, 0.513, -1.20, 1.21, -1.21])
    movel(home)
end

def qa_break():
    movel(p[0.398, -0.921, 0.203, -1.20, 1.21, -1.22])
    p1 = p[0.391, -1.060, 0.083, -1.20, 1.21, -1.21]
    p2 = p[0.381, -0.890, -0.037, -1.20, 1.21, -1.21]
    movec(p1, p2)

    p3 = p[0.381, -0.710, 0.133, -1.20, 1.21, -1.21]
    p4 = p[0.381, -0.920, 0.283, -1.20, 1.21, -1.21]
    movec(p3, p4)
    movel(home)
end

def qa_mirror():
    movej([0.99, -1.96, -0.72, -3.57, 1.18, 0.01])
    movel(p[0.646, 0.369, 0.775, 1.59, -0.17, -0.12])
    movel(p[0.531, 0.388, 0.773, 1.59, -0.17, -0.13])
    movej(home)
end

def qa_handle():
    movej([1.55, -2.10, -1.22, -2.97, -0.02, -3.14])
    movel(p[0.342, 1.079, 0.592, -1.21, 1.21, -1.21])
    movel(p[0.339, 0.867, 0.593, -1.21, 1.21, -1.21])
    movej(home)
end

def qa_door():
    movej([1.53, -2.36, -0.50, -3.42, -0.45, -3.14])
    movel(p[0.353, 1.035, 0.241, -1.38, 0.90, -0.91])
    movel(p[0.343, 0.675, 0.241, -1.54, 1.53, -0.91])
    movel(p[0.343, 0.205, 0.241, -1.44, 1.76, -1.22])
    movej(home)
end

def qa_hinge():
    movej([1.53, -2.36, -0.50, -3.42, -0.45, -3.14])
    movel(p[0.343, 0.675, 0.241, -1.54, 1.53, -0.91])
    movel(p[0.343, 0.205, 0.241, -1.44, 1.76, -1.22])
    movej(home)
end

# main function
def start_task():
    label_ok = False
    break_ok = False
    mirror_ok = False
    handle_ok = False
    door_ok = False
    hinge_ok = False

    movej(home)

    if check_label:
    	qa_label()
    	label_ok = True
    end

    if check_break:
        qa_break()
        break_ok = True
    end

    if check_mirror:
        qa_mirror()
        mirror_ok = True
    end

    if check_handle:
        qa_handle()
        handle_ok = True
    end

    if check_door:
        qa_door()
        door_ok = True
    end

    if check_hinge:
        qa_hinge()
        hinge_ok = True
    end
end

qa_script.script

2KB

Open

camera_qa_app.urp

1KB

Open