Summary of Contents for Ocular RobotEye RE01 Imaging
- Page 1 RobotEye RE01 Imaging User Manual Ocular Robotics Pty. Ltd. Level 3, 12-14 Ormonde Pde Hurstville NSW 2220 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
3.4.3 Network Topology ............................ 19 3.5 Optical ..................................21 3.5.1 Field of View..............................21 3.5.2 Camera Mounting............................22 3.5.3 Camera Focus and Aperture ......................... 23 3.5.4 Modulation Transfer Function ......................23 4 Specifications ................................24 www.ocularrobotics.com Ocular Robotics Pty Ltd... -
Page 4: Introduction
The RE01 User Manual is provided as a guide to the connection, configuration and safe use of the Ocular Robotics RE01 Imaging System. For development of custom software applications for use with the RE01 system see the RobotEye Network Interface Manual, RobotEye API Reference Manual, or contact Ocular Robotics. -
Page 5: Basics
2.1.1 RE01 Imaging Unit Figure 2.1 – RE01 Imaging Unit Packing List The Ocular Robotics RobotEye RE01 imaging unit is supplied standard with the following components, each of which can be seen in Figure 2.1: 1. The RobotEye RE01 3D laser scanning unit. -
Page 6: Re01 Imaging System
2.1.2 RE01 Imaging System Figure 2.2 – RE01 Imaging System Packing List The Ocular Robotics RobotEye RE01 Imaging System is an RE01 Imaging Unit mounted in an IP65* enclosure with power connector and dual Ethernet connectors for RobotEye control and camera communication with the following components, each of which can be seen in Figure 2.2:... -
Page 7: What You Need
1. Power supply – A 24 volt DC 10 Amp power supply with a continuous current capacity of 10 Amps. 2. A suitable C-mount camera – Ocular Robotics can supply and mount a range of Allied Vision Technologies GigE cameras, see the ordering info tab on the RE01 Imaging product page of the Ocular Robotics website. -
Page 8: Initial Setup
Linux operating system. The library version number and system IP address shipped with your system should be noted on the supplied Certificate. Figure 2.4 Wiring and connections for the RE01 Unit 1. Connect Cable Harness (16 pin to 10/6 pin cable) between controller and amplifier board. www.ocularrobotics.com Ocular Robotics Pty Ltd... - Page 9 RE01 at any time). Place the camera mount in position and replace the socket screws but do not tighten until the mount is attached to the camera. www.ocularrobotics.com Ocular Robotics Pty Ltd...
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Page 10: Re01 Imaging System
Connect the other end to the RE01 Control Ethernet port (right-side Ethernet connector). Refer to Figure 2.5. 2. Connect another Ethernet cable to the RE01 Camera Ethernet port (left-side Ethernet connector) and a PC or Switch. Figure 2.5 Wiring and connections for the RE01 System www.ocularrobotics.com Ocular Robotics Pty Ltd... - Page 11 RE01 at any time). Place the camera mount in position and replace the socket screws but do not tighten until the mount is attached to the camera. www.ocularrobotics.com Ocular Robotics Pty Ltd...
- Page 12 Follow the procedure in Section 3.5.3 to adjust the focus and aperture of the camera. i) Replace the base using the eight countersunk socket screws and tension correctly to maintain the integrity of the seal. 6. Attach power and communications cables as appropriate for your camera. www.ocularrobotics.com Ocular Robotics Pty Ltd...
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Page 13: Safety
Basics 2.5 Safety The RobotEye RE01 Imaging System is a high speed device. All instructions regarding safe operation of this system should be strictly followed. Protection Class 3. The device operates with a separated extra low voltage (SELV) of 24 Volts DC. -
Page 14: Operation
Additional protection is recommended when operating the device under extreme or adverse environmental conditions. Rapid changes in temperature may lead to humidity entering the device. www.ocularrobotics.com Ocular Robotics Pty Ltd... -
Page 15: Cleaning And Maintenance
CAUTION – Power must be disconnected from the RE05 system before any cleaning or maintenance is carried out. User performable cleaning and maintenance of the RobotEye RE01 Imaging System is limited to cleaning of the exterior housing and the aperture window. For ANY other maintenance or repair the unit should be returned to the factory. -
Page 16: General Description
General Description 3 General Description The RobotEye RE01 Imaging System is a two-axis high performance vision system with unprecedented motion bandwidth. The RE01 System is ideally suited for use on ground vehicles, surface craft, aircraft and static installations. The RE01’s embedded RobotEye technology allows applications such as inertial stabilisation, object tracking, telepresence/teleoperation, environment mapping, rapid disparate point data acquisition and persistent surveillance to be easily achieved. - Page 17 The red wire provides 24 VDC with respect to the black wire at 0 V. A suitable voltage converter is required if the camera operates at a different voltage. Figure 3.4 – Power connector for the camera www.ocularrobotics.com Ocular Robotics Pty Ltd...
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Page 18: Mechanical
The RE01 Imaging Head enclosure has IP65 rating (when used with the cable socket and panel plug connectors mated). The bounding dimensions and positions of mounting holes for the RE01 Unit and System are shown in Figure 3.5 and Figure 3.6. www.ocularrobotics.com Ocular Robotics Pty Ltd... - Page 19 General Description Figure 3.5 – RE01 Unit Mechanical Dimensions www.ocularrobotics.com Ocular Robotics Pty Ltd...
- Page 20 General Description Figure 3.6 – RE01 System Mechanical Dimensions www.ocularrobotics.com Ocular Robotics Pty Ltd...
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Page 21: Ethernet
The left Ethernet connector is for interfacing with the nominated imaging camera. The right Ethernet connector is for controlling the RE01 Imaging System. Figure 3.8 – RJ45 Ethernet Connections on the RE01 System Enclosure www.ocularrobotics.com Ocular Robotics Pty Ltd... -
Page 22: Network Topology
RJ45 connectors for use when environmental conditions require the use of extra protection. The mating cable plug is a Souriau UTS6JC18RJN and can be purchased as an Ethernet cable assembly from Ocular Robotics or through various suppliers of electronic connectors. - Page 23 General Description Figure 3.9 – Network Schematic for Single Host PC to Single RE01 Figure 3.10 – Network Schematic for Single Host PC to Multiple RE01s www.ocularrobotics.com Ocular Robotics Pty Ltd...
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Page 24: Optical
NOTE – De-rotation of the video/image needs to be handled via software. Figure 3.11 – Field of View Representations for various CCD sizes (Not to Scale) www.ocularrobotics.com Ocular Robotics Pty Ltd... -
Page 25: Camera Mounting
RobotEye head in Figure 3.12 is facing the default home position (0 elevation, 0 azimuth) and that the resulting camera view will be rotated 90° with respect to horizontal for each orientation. Figure 3.12 – Recommended Camera Mounting Orientations (Forward View) www.ocularrobotics.com Ocular Robotics Pty Ltd... -
Page 26: Camera Focus And Aperture
Figure 3.13 – Fujinon HF50HA-1B C-mount Lens 3.5.4 Modulation Transfer Function The RE01 Imaging optical system Modulation Transfer Function is provided below for reference. Figure 3.14 – Plot of the Modulation Transfer Function www.ocularrobotics.com Ocular Robotics Pty Ltd... -
Page 27: Specifications
Maximum optical field of view (diagonal) 40° Optical port C-Mount Environmental Operating Temperature Range -20°C - +50°C IP Class Rating (RE01 Imaging System) Note: IP Rating valid only when both supplied power & optionally supplied Ethernet cable connectors are fitted. www.ocularrobotics.com Ocular Robotics Pty Ltd...
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