Summary of Contents for Ocular Robotics RobotEye RE08
- 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...
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Page 2: Revision Table
No parts of this manual may be reproduced in any form without the express written permission of Ocular Robotics. Ocular Robotics makes no representations or warranties in relation to this User Manual or the information and materials provided herein. Every precaution has been taken in the preparation of this manual to include accurate and up to date information. -
Page 3: Table Of Contents
5.4.1 Region Scan Velocity Profile ....................21 5.4.2 Bounded Elevation Duration ....................21 5.4.3 Region Scan Duration ......................22 6 LIDAR Rangefinder ..........................24 6.1 Modes of Operation ......................... 24 6.1.1 High-Speed Mode (HS) ......................24 www.ocularrobotics.com Ocular Robotics Ltd... - Page 4 CE COMPLIANCE STATEMENT: This equipment has been tested and passed with the requirements relating to electromagnetic compatibility based on the standards EN 55022:2010 +AC:2011 (Class A) and EN61000-6-2:2005 www.ocularrobotics.com Ocular Robotics Ltd...
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Page 5: Introduction
The RE08 User Manual is provided as a guide to the connection, configuration and safe use of the Ocular Robotics RE08 3D laser scanner. For development of custom software applications for use with the RE08 system see the EyeLib Application Peripheral Interface (API) Reference Manual and UDP Packet Specification Manual. -
Page 6: Basics
2.1 System 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 3D laser scanning head with Optical... -
Page 7: What You Need
Avoid handling the RobotEye using the dome. Doing so may result in damage to the dome, reducing optical performance. When transporting, make sure the RobotEye dome will not be subject to large external loads, stresses or impacts. Figure 2-2 – RE08 Handling Zones www.ocularrobotics.com Ocular Robotics Ltd... -
Page 8: Initial Setup
The green and yellow cable should be connected to a ground reference. Figure 2-3 Wiring and connections for the RobotEye www.ocularrobotics.com Ocular Robotics Ltd... -
Page 9: Safety
Refer to Section 3.2 for further details. 2.5 Safety The RobotEye RE08 3D Laser Scanning System is a Class 1M laser device which contains a laser which emits invisible radiation. The device complies with Laser Class 1M based on IEC 60825-1:2007 and does not pose any significant risk to a naked human eye unless passed through magnifying optics. -
Page 10: Safety Features
RE08 System are listed below: Laser Safety Warning Labels – The following laser safety warning labels are fitted to the RobotEye RE08 3D Laser Scanning System: Laser Classification and Information Label on both the Scanning Unit and CSE... -
Page 11: Cleaning And Maintenance
1) RobotEye power cable. 2) IP68/IP69K Data cable. a) An optional 5m or 10m IP68 Cable can be purchased from Ocular Robotics 3) 5mmx20mm 16A Slow Blow Fuse. a) The fuse is located in the Fuseholder located next to the power connector. -
Page 12: General Description
General Description 3 General Description The RobotEye RE08 3D Laser Scanning System is a high performance long range laser scanning system, designed for rapid 3D cloud point imaging. The RE08 System with sample rates of 25 kHz, 5 kHz and 500 Hz and high scan speeds is ideally suited to generating dense point clouds of the environment both indoors and outdoors, at ranges up to 270 meters for most natural surfaces. -
Page 13: Electrical
10 Amps. The output voltage of the 24 VDC power supply used with the RE08 System should not vary by more than ±15% from the nominal 24V under any circumstances otherwise damage to the RE08 System may result. www.ocularrobotics.com Ocular Robotics Ltd... -
Page 14: Power
If forced in the incorrect orientation, damage to the system is likely to result. A 16A rated slow blow fuse is housed in the fuseholder to prevent potential damage to internal electrical components from power surges. Figure 3-1 – Fuseholder on the RE08 Enclosure www.ocularrobotics.com Ocular Robotics Ltd... -
Page 15: Mechanical
General Description 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 – RE08 Mechanical Dimensions www.ocularrobotics.com Ocular Robotics Ltd... - Page 16 General Description Figure 3-3 - RE08 Mechanical Dimensions www.ocularrobotics.com Ocular Robotics Ltd...
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Page 17: Ethernet
RE08 System see the UDP Communications Specification available for download from the Ocular Robotics website. In most situations use of a Cat5e Ethernet cable will be sufficient for operation of the RE08 system, however it is recommended that a Cat6 cable be used over long distances to avoid packet loss due to the large volume of data. - Page 18 General Description Figure 3-5 – Network Schematic for Single Host PC to Multiple RE08s www.ocularrobotics.com Ocular Robotics Ltd...
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Page 19: Measurement Accuracy
NOTE – The RE08 laser scanner has a minimum range of 1 m from the aperture regardless of measurement mode. Objects within 1 m might be resolved based on the surface properties but performance is not guaranteed. www.ocularrobotics.com Ocular Robotics Ltd... -
Page 20: Scan Patterns
In this mode, pre-detection averaging occurs across 50 samples. Table 1 – Distance Measurement Dispersion Output Freq Mode Freq [Hz] Dispersion [mm] [Hz] High Speed 25000 25000 High Range 25000 5000 Extended Range 25000 www.ocularrobotics.com Ocular Robotics Ltd... -
Page 21: The Full Field Scan
(i.e. one line every 7 degrees of elevation over -35 to +35 degrees). For a given Azimuth Rate and Number of Scan Lines, the RE08 laser aperture elevation rate is constant over the total elevation range. www.ocularrobotics.com Ocular Robotics Ltd... -
Page 22: The Bounded Elevation Scan
The Bounded Elevation Scan pattern is similar to the Full Field Scan with one important difference. The lower and upper extents in elevation in the aperture space can be configured, thus limiting the RE08 sensor's vertical field of view. www.ocularrobotics.com Ocular Robotics Ltd... -
Page 23: The Region Scan
Azimuth limits are specified in the range 0-360, so a scan from 340° to 20° will be a 40° wide scan. Number of Based on Actual azimuth rate, azimuth width and elevation width, down to an Scan Lines absolute minimum of 3 lines per scan. Maximum 500 lines per scan. www.ocularrobotics.com Ocular Robotics Ltd... - Page 24 Note the Region Scan is limited to a 180° azimuth window. Hence it will always select the shortest arc segment out of the Minimum Azimuth and Maximum Azimuth parameters. Figure 5-4 – Selected Azimuth Scan Arc for given Min/Max Azimuth Parameters www.ocularrobotics.com Ocular Robotics Ltd...
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Page 25: Region Scan Velocity Profile
Number of Scan Lines is the user specified Azimuth Rate in [Hz] As Bounded Elevation requires the scanning head to do full azimuth revolutions, the total scan time is the same irrespective of Azimuth Width/Boundary limits. www.ocularrobotics.com Ocular Robotics Ltd... -
Page 26: Region Scan Duration
Number of Scan Lines is the user specified Azimuth Rate in [Hz] is the applied Azimuth Rate in [Hz] Therefore if then it is faster to use the Bounded Elevation scan mode to scan a region of interest. www.ocularrobotics.com Ocular Robotics Ltd... - Page 27 30 000°/s , however between 30 000°/s and up to the maximum limit of 40 000°/s , it is faster to use the Region scan mode. Figure 5-5 – Bounded Elevation versus Region Scan Times www.ocularrobotics.com Ocular Robotics Ltd...
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Page 28: Lidar Rangefinder
Long Range mode extends the range of the RE08 by performing 5-sample pre-detection averaging. This gives an improvement in the maximum range capability of approximately 50% and a reduction in the range dispersion of observations as 5 separate pulses are being averaged in order to detect targets. www.ocularrobotics.com Ocular Robotics Ltd... -
Page 29: Extended Range Mode (Er)
Deviation of 0 indicates no distortion of the pulse. Deviations below 10-15 should be treated as good measurement results with high accuracy. Large deviations will typically indicate dirt, dust, rain, edges or other spatially diffuse reflecting targets. www.ocularrobotics.com Ocular Robotics Ltd... -
Page 30: Return Filtering
With up to 5 returned points per transmit, when running in HS mode, All Target filtering can result in up to 125,000 3D point observations per second. www.ocularrobotics.com Ocular Robotics Ltd... -
Page 31: Specifications
Operating Temperature Range (Scan Head) -10°C - +65°C Operating Temperature Range (CSE) -10°C - +50°C IP Class Rating (Scan Head/CSE) 67/66 Note: IP Rating valid only when both supplied power & optionally supplied Ethernet cable connectors are fitted. www.ocularrobotics.com Ocular Robotics Ltd...
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