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      APPLICATION OF MACHINE VISION IN THE TASKS OF AUTOMATIC POSITIONING OF MODULAR EQUIPMENT TOOL

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      Modular equipment is characterized by versatility in use and can perform processing operations as well as supporting ones. It is obvious that modules can vary in size and in the tool axis position, which makes it difficult to install and configure in manual mode. A technique for automated positioning of removable modules for a three-coordinate platform based on the use of a computer vision system is proposed. An algorithm is developed that combines an observing camera located above the working area with incremental encoders of the platform servo drives. A library of optical labels is used to determine the configuration of the workspace and the dimensions of the module. This technique allows to avoid the error of manually installing modules by comparing the coordinate systems of the module and the platform, as well as to increase the level of automation of the product workflow.

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