ADVERTISEMENT FEATURE SUPPLEMENT COVER STORY 3D PICK AND PLACE FOR PHARMACIES
The automation of pick and place processes is one of the things that 3D machine vision does best, and 3D stereo cameras from IDS have been incorporated into a self-contained storage and dispensing system developed specifically for use in pharmacies
makes the 3D point clouds available to the other programmes.
Maru pharmacy storage system
C
ameras detect the shape, size and position of the medication packs, and
pass this information on to the robot controller, allowing this novel system to pack up to 80 per cent more packages per square metre compared with conventional high-bay racking systems and manage up to 17,000 medication boxes on up to 36 round layers inside the unit.
OPTIMISING SPACE The Ensenso 3D stereo camera from IDS is an integral part of the ‘Maru’ automatic pick and place system developed for pharmacies by Magazino GmbH. The use of the multiple layers of round storage discs spaced at irregular height provides an efficient use of space and also enables fast retrieval of stock. The system is compatible with all standard warehouse management systems but needs much less space than a conventional drawer system, and also enables a significant reduction in the amount of time spent putting the packets into storage and managing stock. Although the system is completely automated, each medication type can be reached by hand in an emergency. The system can transfer packages
directly from the storage bin delivered by the wholesaler, and can independently recognize barcodes and expiry dates while doing so.
ENSENSO 3D STEREO CAMERA The Ensenso N10 3D stereo camera used in this application integrates two global shutter CMOS sensors, powerful software and an infrared pattern projector in a robust aluminium housing. A random pattern of dots is projected onto the packet to be imaged, enabling a
S4 OCTOBER 2015 | MACHINE VISION SYSTEMS
virtually seamless and detailed 3D image to be generated even from packages with a relatively homogeneous surface. Images of the object are captured by each sensor and 3D coordinates calculated for each pixel using the triangulation principle. The Ensenso with the most appropriate focal length was chosen to optimise the distance from the storage bin while maintaining the smallest possible distance from the packet to camera. In addition, it was essential that all of the bin picking technology (including the camera) was installed below a workbench with a working height of 1.1m. The Ensenso is supplied with a Software
Development Kit (SDK) which Magazino used to write its own interface with the robot operating system. This interface
The Ensenso 3D stereo camera from IDS is an integral part of the ‘Maru’ automatic pick and place system developed for pharmacies by Magazino
THE PICK AND PLACE PROCESS A specially designed suction gripper is used to pick randomly positioned packages from the storage bin. The bin that comes from the wholesaler has a height of around 20cm, and the system needs to pick packages with a height of up to 15cm from that bin. The gripper is controlled by means of 3D images captured by the Ensenso camera which is placed in a central position above and relatively close to the bin that is to be emptied. The best possible position for the gripper is determined from the point cloud produced by the 3D camera. The individual package (typically with a size of 100 x 50 x 20mm) is then retrieved and placed on a surface for precise measurement since the height of the package cannot be measured in the storage bin. This allows the ideal storage location for the box to be selected. In addition, a 2D camera records a reference image, for later location of the package in the disc storage area, for example to perform a fully automated stock-take. The gripper then picks up the package again and holds it against an illumination unit which features several individually controlled LEDs to allow illumination from different directions. This detects the package’s barcode and the expiry date stamped onto its surface. Finally, the package is placed on a buffer washer and, from there, is picked up by another suction gripper and taken to its defined storage location. The robots are calibrated to work with the camera using a calibration plate mounted on the robot gripper. The software uses this plate to calculate the mounting position of the camera, and the 3D data is immediately available in the robot’s coordination system.
IDS Imaging Development Systems T: 0118 970 1704
www.ids-imaging.com
/AUTOMATION
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