Labview vision connection to a robot

[Out of the box]

Hello,

We are a group of students of a Dutch university and as a project we have received the task of making a program. The program is made to recognize a small plastic train in a box using National Instruments Vision Builder AI 3.5. We are making use of prosilica EC3050E camera.  After locating the plastic train the program should send a string of information to our robot (Mitsubishi Melfa RV-6SL) and the robot should then pick up the train.

We have made it so far to recognizing the train in the box using labview, but now we are stuck in how to find the location and the angle of the train. The train will be in the same height every time  so we only need x-y coordinates and the rotation around the z-axis.

Then we need to send this location to the robot so it can pick up the train. The problem here is that we do not know how to send the data so it can communicate with our robot (Ethernet, Profibus or serial link).

We hope you can help us.

With kind regards.

[Rupali]

Hello... Can you post any image of your setup which shows the actual position of the train and the camera... Is there any fixed point in your image so that we can use it as a reference point....?

[Out of the box]

We now have come so far that we can recognize our plastic train so we have got all the coordinates we need to locate the train.

Now we are trying to send this information, wich we believe is send in ASCII, so that the robot will move.

Our problem now is that the robot needs a komma (,) between the coordinates wich we can't find out how to do??

The set-up right now is that the camera is in a different room then the robot but is linked using a serial cable.

Our robot only has one communication port wich is normally linked to a computer wich uses Cosirop to make teach-in programs. We believe it is possible to make a program using Cosirop, downloading this to the robot, and then connect it to our camera set-up wich will send out the data. Does anyone have experience with Cosirop on this forum please contact us. We just cannot find out how to read the coordinates!?.