This paper describes a vision system for a jigsaw puzzle matching type robot system consisting of three robotic arms, three visual sensors and a conveyor belt.
The vision system consists of three parts, that is, a visual measurement part, an image processing part, and a display part.
For visual measurement, a real time image digitizer is implemented and a VDM(vision data multiplexer) is designed in order to select a camera out of three cameras.
For real time control, a binary image processing algorithm is adopted in a dedicated Z8000 16bit u-computer.
To describe arbitrary geometric patterns in detail, a boundary tracking algorithm is proposed in which boundary extraction and tracking are performed simultaneously.
To display the result of processing, a graphic display controller is designed and software is developed.
