Technique of Substantiating Requirements for the Vision Systems of Industrial Robotic Complexes

In references, there is a lack of approaches to describe the justified technical requirements for the vision systems (VS) of industrial robotics complexes (IRC). Therefore, an objective of the work is to develop a technique that allows substantiating requirements for the main quality indicators of VS, functioning as a part of the IRC.The proposed technique uses a model representation of VS, which, as a part of the IRC information system, sorts the objects in the work area, as well as measures their linear and angular coordinates. To solve the problem of statement there is a proposal to define the target function of a designed IRC as a dependence of the IRC indicator efficiency on the VS quality indicators. The paper proposes to use, as an indicator of the IRC efficiency, the probability of a lack of fault products when manufacturing. Based on the functions the VS perform as a part of the IRC information system, the accepted indicators of VS quality are as follows: a probability of the proper recognition of objects in the working IRC area, and confidential probabilities of measuring linear and angular orientation coordinates of objects with the specified values of permissible error. Specific values of these errors depend on the orientation errors of working bodies of manipulators that are a part of the IRC. The paper presents mathematical expressions that determine the functional dependence of the probability of a lack of fault products when manufacturing on the VS quality indicators and the probability of failures of IRC technological equipment.The offered technique for substantiating engineering requirements for the VS of IRC has novelty. The results obtained in this work can be useful for professionals involved in IRC VS development, and, in particular, in development of VS algorithms and software.