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Summary of Contents for Roboception rc viscore
- Page 1 Roboception GmbH | May 2024 rc_viscore 3D Stereo Sensor ASSEMBLY AND OPERATING MANUAL...
- Page 2 This product may be modi ed without notice, when necessary, due to product improvements, modi cations, or changes in speci cations. If such modi cation is made, the manual will also be revised; see revision information. DOCUMENTATION REVISION Rev 1.1, May 17, 2024 Manufacturer Roboception GmbH Ka erstrasse 2 81241 Munich Germany CUSTOMER SUPPORT: support@roboception.de...
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Page 3: Table Of Contents
..........30 Roboception GmbH Rev: 1.1... - Page 4 ..........30 Index Roboception GmbH Rev: 1.1...
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Page 5: Introduction
Software-related warnings in- dicate procedures that must be observed to avoid malfunctions or unexpected behavior of the soft- ware. Note: Notes are used in this manual to indicate supplementary relevant information. Roboception GmbH Rev: 1.1 Manual: rc_viscore Status: May 17, 2024... -
Page 6: Overview
• SGM®producer: https://roboception.com/product/sgmproducer Fig. 1.1: The Roboception rc_viscore stereo camera The terms “stereo camera”, “camera” and “rc_viscore stereo camera” used throughout the manual all refer to the Roboception rc_viscore stereo camera stereo camera. Roboception GmbH Rev: 1.1 Manual: rc_viscore Status: May 17, 2024... -
Page 7: Warranty
1.2. Warranty 1.2 Warranty Any changes or modi cations to the hard- and software not expressly approved by Roboception could void the user’s warranty and guarantee rights. Warning: The rc_viscore stereo camera utilizes complex hardware technology that may behave in a way not intended by the user. -
Page 8: Applicable Standards
(b) A digital device used exclusively as an electronic control or power system utilized by a public utility Roboception GmbH Rev: 1.1 Manual: rc_viscore... -
Page 9: Environmental Regulation
We hereby certify that these products do not contain any Substance of Very High Concern (SVHC) in amounts >0.1% (w/w). 1.6 Available certi cates Copies of the various certi cates can be downloaded from https://roboception.com/support/. 1.7 Information on disposal 1. Disposal of Waste Electrical & Electronic Equipment This symbol on the product(s) and / or accompanying documents means that used electrical and electronic products should not be mixed with general household waste. - Page 10 End users of Electrical & Electronic Equipment are responsible for deleting personal data on the waste equipment to be disposed of. 5. WEEE registration number Roboception is registered under the registration number DE 33323989 at the stiftung elektro- altgeräte register, Nordostpark 72, 90411 Nuremberg, Germany, as a producer of electrical and/or electronic equipment.
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Page 11: Safety
• All cable sets need to be secured to the rc_viscore stereo camera and the mount. • Cables must not be longer than 30 m. The 8-Pin power supply cable must not be longer than 15 m. Roboception GmbH Rev: 1.1 Manual: rc_viscore... -
Page 12: Intended Use
2.2 Intended use The rc_viscore stereo camera is intended to be used in combination with a Roboception rc_cube or the SGM®Producer. The rc_viscore stereo camera together with a Roboception rc_cube are intended for installation with automated machinery, a mobile platform, or stationary equipment. -
Page 13: Hardware Speci Cation
(Section 6) for suggested cables. The following picture shows the important parts of the rc_viscore stereo camera which are referenced later in the documentation. Right camera rc_randomdot Left camera Projector Fig. 3.1: Parts description Roboception GmbH Rev: 1.1 Manual: rc_viscore Status: May 17, 2024... -
Page 14: Technical Speci Cation
3.4 Gbytes of GPU memory. Larger depth ranges are possible by using the SGM®producer with a graphics card that offers more GPU mem- ory. Roboception GmbH Rev: 1.1 Manual: rc_viscore Status: May 17, 2024... - Page 15 2.0 m 0.5 mm 3.0 m 1.2 mm 4.0 m 2.0 mm Average depth accuracy 1.0 m 0.5 mm 2.0 m 2.0 mm 3.0 m 4.6 mm 4.0 m 8.2 mm Roboception GmbH Rev: 1.1 Manual: rc_viscore Status: May 17, 2024...
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Page 16: Environmental And Operating Conditions
A free space of at least 10 cm extending in all directions from the housing, and su cient air exchange with the environment is required to ensure adequate cooling. Cooling ns must be free of dirt and other contamination. Roboception GmbH Rev: 1.1 Manual: rc_viscore... -
Page 17: Power-Supply Speci Cations
Warning: Due to the voltage drop, the maximum power cable length is limited to 15 m. The supply voltage should be set to the speci ed 24 V and must not be set above 26 V due to the highly variable current draw of the rc_viscore stereo camera. Roboception GmbH Rev: 1.1 Manual: rc_viscore... - Page 18 Uext = 5 VDC to 29 VDC Iout = max 50 mA GPIO In: Uin = 12 VDC to 24 VDC Iin = 15 mA Fig. 3.4: GPIO circuitry and speci cations Roboception GmbH Rev: 1.1 Manual: rc_viscore Status: May 17, 2024...
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Page 19: Coordinate Frames
3.5. Fig. 3.5: Camera coordinate frame location and orientation Note: The correct offset between the camera frame and a robot coordinate frame can be calibrated through hand-eye calibration. See https://doc.rc-cube.com/latest/en/handeye_calibration.html. Roboception GmbH Rev: 1.1 Manual: rc_viscore Status: May 17, 2024... -
Page 20: Installation
Only the surface containing the thread pattern must be in contact with the mounting bracket, all other surfaces must remain free. At least 10 cm clearance must be provided behind the rc_viscore stereo camera to facilitate adequate air ow for cooling. Roboception GmbH Rev: 1.1 Manual: rc_viscore... -
Page 21: Power-Up
1 gigabit speed for the connection to the rc_viscore stereo camera. The switch is not in the scope of the delivery of the rc_cube S. Roboception can recommend a suitable switch upon request. By default, the rc_cube is con gured to support one rc_visard as sensor. For supporting one rc_viscore... -
Page 22: Adjust Camera Focus
• temporarily changing the network con guration via Roboception’s tool. The indi- rcdiscover-gui vidual cameras can be seen in the list after unchecking the Only Roboception devices check box. gc _ config Note: The command-line tool is part of Roboception’s open-source convenience layer... - Page 23 The bars on the right side of the focus helper image report the blur of the calibration grid, thus a mini- mum is desirable. See also https://doc.rc-cube.com/latest/en/camera_calibration.html#adjust-focus. For setting the focus correctly, the calibration grid should be placed in the middle of the working range. Roboception GmbH Rev: 1.1 Manual: rc_viscore...
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Page 24: Adjust Projector Focus
Out1 reduction value in percent. The Out1 reduction value describes the reduction of the brightness of the image without projection compared to the image with projection. The value should be between 10% and 20%. A higher Out1 Roboception GmbH Rev: 1.1 Manual: rc_viscore... -
Page 25: Calibration
Recalibration is only necessary if the reported calibration error is above 0.3 pixels. After recalibration, also a new hand-eye calibration is required. Note: Roboception will deliver the rc_viscore stereo camera with pre-adjusted focus to make sure it contact support works in the desired depth range. Please (Section 8) and provide your speci cation to enable us to set up the rc_viscore stereo camera accordingly. -
Page 26: Maintenance
In case a change of working range is desired, an adjustment of the focus (see Section 4.4) as well as the depth range is required. Please note the limitations in the measurement range in Table 3.2. Roboception GmbH Rev: 1.1 Manual: rc_viscore Status: May 17, 2024... -
Page 27: Accessories
Only one rc_viscore stereo camera shall be connected to a power supply at any time, and the total length of cables must be less than 15 m. 6.3 Spare parts Roboception can provide calibration grids, power cables and network cables as spare parts for rc_viscore stereo camera upon request. 6.4 SGM®Producer and rc_cube The rc_viscore stereo camera provides 12MP camera images and –... - Page 28 The SGM®Producer can be downloaded from http://www.roboception. com/download In combination with the rc_cube, the rc_viscore stereo camera provides the data for object detection and grasp computation applications, e.g. in industrial automation and logistics applications. Roboception GmbH Rev: 1.1 Manual: rc_viscore Status: May 17, 2024...
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Page 29: Troubleshooting
Web GUI . For continuously computing depth images, the projector should be turned on for every second image by setting Out1 / Projector to ExposureAlternateActive in Pipeline . . . Con guration IOControl . Roboception GmbH Rev: 1.1 Manual: rc_viscore Status: May 17, 2024... -
Page 30: Dark Camera Images
• The internal projector may be too bright. Increase the external lighting or reduce the projec- Adjust projector aper- tor brightness by adapting the aperture of the projector as described in ture (Section 4.6). Roboception GmbH Rev: 1.1 Manual: rc_viscore Status: May 17, 2024... -
Page 31: Contact
8 Contact 8.1 Support support issues, please https://www.roboception.com/support contact sup- port@roboception.de. 8.2 Address Roboception GmbH Ka erstrasse 2 81241 Munich Germany Web: https://www.roboception.com Email: info@roboception.de Phone: +49 89 889 50 79-0 Roboception GmbH Rev: 1.1 Manual: rc_viscore Status: May 17, 2024... - Page 32 IP54 lens cleaning maintenance mounting operating conditions pin assignments power cable , 16, power supply power-up projector projector aperture projector brightness projector focus protection class Roboception GmbH Rev: 1.1 Manual: rc_viscore Status: May 17, 2024...
- Page 33 3D Stereo Sensor ASSEMBLY AND OPERATING MANUAL Roboception GmbH Ka erstrasse 2 81241 Munich info@roboception.de Germany www.roboception.com Tutorials: https://tutorials.roboception.com GitHub: https://github.com/roboception Documentation: https://doc.rc-visard.com https://doc.rc-viscore.com https://doc.rc-cube.com https://doc.rc-randomdot.com Shop: https://roboception.com/shop For customer support, contact +49 89 889 50 790 (09:00-17:00 CET)
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