Ocular Robotics RobotEye RE08, User Manual

Page 1: ...RobotEye RE08 3D Laser Scanning System User Manual Ocular Robotics Ltd Unit F1 13 15 Forrester Street Kingsgrove NSW 2208 Australia www ocularrobotics com...

Page 2: ...materials provided herein Every precaution has been taken in the preparation of this manual to include accurate and up to date information Ocular Robotics does not warrant that the information in this...

Page 3: ...ing and Maintenance 7 2 6 1 Replacement Parts 7 3 General Description 8 3 1 Electrical 9 3 2 Power 10 3 3 Mechanical 11 3 4 Ethernet 13 4 Measurement Accuracy 15 4 1 Angular 15 4 2 Range 15 5 Scan Pat...

Page 4: ...sonable protection against harmful interference when the equipment is operated in a commercial environment This equipment generates uses and can radiate radio frequency energy and if not installed and...

Page 5: ...sic use of the RE08 including information on cleaning maintenance and safety Chapter 3 General Description presents a system description in terms of the system s Mechanical and Electrical properties a...

Page 6: ...stem Components Figure 2 1 RE08 Packing List The RobotEye RE08 3D laser scanning system is supplied standard with the following components each of which can be seen in Figure 2 1 1 The RobotEye RE08 3...

Page 7: ...ble A standard Ethernet cable Cat5e or Cat6 is needed for control and communication with the RE08 system 3 A computer with a Windows or Linux operating system with an available Gigabit Ethernet port 2...

Page 8: ...Connect the other end to the RE08 CSE Ethernet port Refer to Figure 2 3 2 Connect the Interconnecting Composite Cable to the RE08 CSE and secure with the latch 3 Make sure the 24 volt power supply is...

Page 9: ...ed extra low voltage SELV of 24 Volts DC The device may only be operated as intended and in faultless condition Safety and warning signs must not be removed The Scanning Unit is in accordance with Ing...

Page 10: ...nce of this manual or any unauthorized modification to the system 2 5 1 Safety Features Class 1M laser products are required to be fitted with specific safety features These features are issued in the...

Page 11: ...ny other time as it has the potential to significantly degrade system performance Rinse the dome first to remove particles from the surface Use a soft non abrasive cloth or tissue to clean the dome en...

Page 12: ...anges up to 270 meters for most natural surfaces The RE08 s embedded RobotEye technology brings to laser scanning previously unavailable control over scanning behavior Three scanning schemes are curre...

Page 13: ...e the range scanning The region scan mode gives the most control over the attention of the scanner with settings for azimuth rate and number of lines as in the bounded elevation scan as well as the ex...

Page 14: ...sheath should be connected to the positive terminal on the power supply and the green yellow wire to a ground reference During connection of the power supply cable to the corresponding plug on the RE0...

Page 15: ...w ocularrobotics com Ocular Robotics Ltd 3 3 Mechanical The bounding dimensions and positions of mounting holes for the RE08 are shown in Figure 3 2 and Figure 3 3 Units are in mm inches Figure 3 2 RE...

Page 16: ...General Description 12 www ocularrobotics com Ocular Robotics Ltd Figure 3 3 RE08 Mechanical Dimensions...

Page 17: ...in broadcast mode The RE08 will only accept commands from the Primary Client however This is to ensure that multiple clients cannot simultaneously send conflicting commands to the sensor The Primary...

Page 18: ...General Description 14 www ocularrobotics com Ocular Robotics Ltd Figure 3 5 Network Schematic for Single Host PC to Multiple RE08s...

Page 19: ...gles is independent of any path following errors of the aperture This means that regardless of what type of scan mode or azimuth and elevation rates are set the angular accuracy of the positions of th...

Page 20: ...tings for each of these scan patterns will be examined in the following sections 5 1 Sampling Rate Three laser sampling rates are supported on the RE08 The High Speed Mode operates at a 25 kHz samplin...

Page 21: ...scan lines will result in interlaced scans NOTE There is a special error code for attempted scans with an insufficiently dense scan pattern 0x08 ERROR_SCAN_TOO_SPARSE This mode is completely paramete...

Page 22: ...absolute minimum of 3 lines per scan e g Minimum 4 lines scan for a 35 high scan at 8 revs second Minimum 7 5 lines scan for a 35 high scan at 15 revs second Minimum 3 75 lines scan for a 17 5 high sc...

Page 23: ...d due to the acceleration limits of the eye The internal velocity limit can be calculated as If the specified AzRate is lower than this limit then the specified rate will be used The acceleration limi...

Page 24: ...area The scan pattern is similar to a standard raster pattern used in many applications such as television and computer graphics The specific pattern used for the RE08 sensor can be seen in Figure 5...

Page 25: ...ion Scan mode NOTE A single frame consists of a scan that spans across an Azimuth Width and Elevation Height determined by the min max limits of Azimuth and Elevation respectively i e A single sweep s...

Page 26: ...gle frame requires 2 where where is the total time taken for the region scan in sec a is the user specified Acceleration Limit deg sec is the Azimuth Width in deg is the Number of Scan Lines is the us...

Page 27: ...rations for a single frame seen in Figure 5 5 Using this graph it can be seen that it is faster to use the Bounded Elevation scan mode if using an acceleration limit of up to roughly 30 000 s2 however...

Page 28: ...ange capability and the number of individual measurements averaged for each reported range measurement Fundamentally the rangefinder transmits 25 000 pulses per second in all operation modes The reduc...

Page 29: ...dB to a resolution of 0 01 dB The amplitude parameter gives an indication of how close to the limit of detection of the RE08 the returned laser pulse was where a return with an amplitude of 0 dB would...

Page 30: ...provided as RBE points Each point will be returned with all associated metadata 2 First Target Only Only the target nearest to the scan head of those detected will be returned any additional observat...

Page 31: ...er Class 1M Laser Wavelength Near Infrared Laser Divergence 2 4 milliradians Max Ranges per Laser Pulse 5 High Speed Mode Sample Rate 25 kHz Range 10 80 reflector 35 m 100 m 500 m Range Accuracy 14 mm...