3D Measurement Stereo Camera RICOH SV-M-S1
Contents
1. This product includes PC software licensed under the BSD License and software from third parties that is subject to copyright licenses disclaimers and notices For the exact terms refer to the documents in the installation folder of the PC application software of this product This product incorporates the multi core compatible real time operating system eT Kernel Multi Core Edition and FAT file system PrFILE2 developed by eSOL Co Ltd For the exact terms refer to device information of the PC application software of this product Inquiries http industry ricoh com en fa camera lens RICOH Industrial Solutions Inc 3 2 3 Shin Yokohama Kohoku ku Yokohama shi Kanagawa Japan 222 8530 Tel 81 45 477 1551 Business hours 9 00 to 12 00 and 13 00 to 17 00 Closed Saturdays Sundays national holidays and company holidays Please note that service details including scheduled business hours are subject to change without notice March 2015 32 11 Revision History March 24 2015 Newly issued rg 1 01 March 30 2015 e Updated Du Added procedure for attaching ferrite core and LAN cable 1 02 May 25 2015 Updated oo Added warning information 332. This product is not PoE type 7 External Connectors and Status Indication LEDs Back RJ45 connector Power Supply connector pS ij LEDS LED4 LED1 LED2 15 LAN Connector This product does not support Power over Ethernet PoE Supply power 12 24 V DC via the power connector Pin Assignment LED 3 Network Access LED 4 Network Connection Speed No connection 10 Mbps connection 100 Mbps connection Use 1 Gbps compatible products for the network interface card NIC and LAN cable If the NIC is a 1 Gbps compatible product confirm that 1 Gbps transfer is enabled If the CAT 5e cable breaks transfer may be at 100 Mbps If that happens replace the cable 16 Power Connector Connector HR10A 10R 12PB Hirose Electric Co Ltd or an equivalent product This is the connector for supplying power Use HR10A 10P 12S Hirose Electric Co Ltd or an equivalent product for the cable side Power input 12 24 V 10 Te MA E ME MA on MN 17 Status Indication LEDs The status of the camera can be confirmed from the status confirmation LED 1 and LED 2 on the back of the camera When Power Turned On Normal startup Red LED Green LED A lt Blinking o OFF aA successful Blinking y at about 0 5s interval Startup failure Red LED Green LED A Vat Blinking o OFF y 4 0 gt 90 om Recovery startup Red LED Green LED The LED indication is successful
3. below Check that the package contains the following items If something is missing contact the place of purchase fom ey Stereo camera main unit RICOH SV M S1 VESA spacer x 4 Includes VESA spacers and Ferrite core x 2 ferrite cores fe aca TT AS ETS ES Ges O ECO ES CE ICE ES 2 Items to Prepare Yourself The equipment and items not included in this product that you need to prepare yourself are shown below a Recommended operating conditions Quantity CPU Intel Core i5 2 7GHz or faster HDD At least 1 GB of free space configuration Memory At least 4 GB and capturing Support for Gigabit Ethernet data Network adapter that supports jumbo frames jumbo packets of 9 KB or larger OS Microsoft Windows 7 32 bit 64 bit R Stereo GigE Package installed LAN cable Shielded twisted pair STP cable of Category 5e or For connecting higher PC and camera 3 Software The dedicated software R Stereo GigE Package needs to be installed on the PC to use the camera The software can be downloaded from our support page For details on installation refer to R Stereo GigE Package User s Guide 2 5 Installation The camera is provided with tripod holes and VESA compliant holes for fixing the camera Use these holes to mount the camera to a frame or the like When using the VESA compliant holes insert the included spacers when fixing the camera using VESA standard length screws 1 Installa
4. limits for a Class A digital device pursuant 5 to Part 15 of the FCC Rules These limits are designed to provide reasonable 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 used in accordance with the instruction manual may cause harmful interference to radio communications Operation of this equipment in a residential area is likely to cause harmful interference in which case the user will be required to correct the interference at his own expense Caution Changes or modifications not expressly approved by the party responsible for compliance could void the user s authority to operate the equipment WEEE WEEE Treatment Information for Customers User Information on Electrical and Electronic Equipment Users in the countries where this symbol shown in this section has been specified in national law on collection and treatment of E waste Our Products contain high quality components and are designed to facilitate recycling Our products or product packaging are marked with the symbol below The symbol indicates that the product must not be treated as municipal waste It must be disposed of separately via the appropriate return and collection systems available By following these instructions you ensure that this product is treated correctly and help to reduce potential impacts on
5. the environment and human health which could otherwise result from inappropriate handling Recycling of products helps to conserve natural resources and protect the environment For more detailed information on collection and recycling systems for this product please contact the shop where you purchased it your local dealer or sales service representatives All Other Users If you wish to discard this product please contact your local authorities the shop where you bought this product your local dealer or sales service representatives Disclaimer RICOH Industrial Solutions assumes no liability whatsoever for any damages that occur as a result of use in a way other than described in the operating procedures of the user s manual RICOH Industrial Solutions assumes no liability whatsoever for any incidental damages resulting from the use of this product RICOH Industrial Solutions assumes no liability whatsoever for PC malfunctions or damages to other software resulting from the installation and running of the software of this product RICOH Industrial Solutions assumes no liability whatsoever for any damages resulting from willful misconduct or negligence on the part of the user RICOH Industrial Solutions assumes no liability whatsoever for any damages resulting from fire earthquakes or other abnormal conditions Precautions for Use Do not measure sunlight or other extremely bright objects Doing so may ca
6. the same as for a a Blinki OFF Startup after firmware lt inning startup failure Y writing failure The procedure for J when a recovery A Startup failure occurs vec Blinking ON 6 is displayed when R y at about 0 5s interval Stereo GigE Player is connected Please follow the instructions 18 When Image Output During normal output Green LED y y Blinking Y 4 at about 0 5s interval Normal output in Green LED software trigger mode l i w 2 y Wating trigger signal m Blinking Slowly Input trigger signal vas G Blinking Once Pi ye in free run mode tput mage output error PONEN OFF 8 AC Adapter RC EE O ewros TEO IEEE TE EE Operating temperature 0 to 40 C range External dimensions W x 43 8 x 28 5 x 95 9 mm Excluding cable H x D 19 Attaching Ferrite Core Near the Power Connector 1 Attach the ferrite core a distance of within 50 mm of the power connector 2 Pass the power cable twice through the center of the ferrite core two turns when attaching the ferrite core Attaching Ferrite Core to LAN Cable 1 Attach the ferrite core a distance of within 50 mm of the LAN cable connector for the camera 2 Pass the LAN cable once through the center of the ferrite core one turn when attaching the ferrite core 9 AC Cable ween CT EE 10 3D Reference Point The 3D reference point of the distance image of the camer
7. RICOH 3D Measurement Stereo Camera RICOH SV M S1 User s Manual Contents IAT OGUC HON RAR a aneatatioldnwlmeheeaa thanks 3 OL Tee AU ONS Scene een eu ee 3 DISCIa Mer canada arios 7 PRECAUTONS Ol Us o aia 7 LADOUTMAIS Malla dao 7 D Contentsof ThS Manali ii sn A A 7 A A 8 R NOTK ONE E 9 SS DV SIEM Special Sui dai 10 1 Whatis RIC FS VMS tits ies il nasa io ont 10 2 Measurement NING Ol Gis sseccu eran atic da siuland oriol its 10 3 System Configuration Example sessur eaa rata 11 4 RICOMSVENES TS PeCCINCANOMS iii 11 5 NAM S Ol Ras a roo Se nn times cle ere tee ated te 12 6 ExlerMal Dimensions a TT ten sense E bete 13 7 External Connectors and Status Indication LEDs 15 SAGA AI Gemma ea ene DA eee eee eee 19 IAS DA td CN 20 1073D Re enCe POIs iii titi iii 21 11 Guaranteed Distance Measurement Precision Ranges and Required User Calibration Ranges 22 C12 OUMU images re 24 A A score soe 26 Ae CHECKS Before US iv AA A re 27 A nas isasace saa este ii ein dd a 27 2 MEMS to Prepare VOSE oraaa iaa 27 SS OWAE enea a e eee eer eee ee 27 D MAS TAN AL Osea T N 28 1 Installation Orientation Of Camera iii 28 2 Installation Orientation of Pattern Lighting 28 6 Equipment Connections and Wiring ss 29 Connecting ihe Power C ADE a is ter ee nee 29 21 Comn ctindine LAN Cable ses did ni iii 29 T Operalng Procede S cosca iia 29 TIP Address Pr aci a 29 2 TU the POW Gr lero tit it iia 29 3 Launchi
8. a is defined as follows This reference point becomes the reference for the working distance Top view Front surface 12 65mm VESA hole 29 851 Tripod hole Positioning hole 39 35mm Rear view Mounting surface 22 5mm 21 Perspective view 11 Guaranteed Distance Measurement Precision Ranges and Required User Calibration Ranges The guaranteed distance measurement precision range and the range required to be obtained for user calibration of each distance of the camera are defined in relation to the center of the front of the camera as shown below 3D measurement within the guaranteed distance measurement ranges is recommended When performing user calibration check that the environment in which calibration is to be performed is within 22 the following ranges Mear ogi ogi tlic 1000 1 000 Far 1200 1200 500 750 400 650 250 250 375 9751 200 4001 T 325 325 500 750 400 650 A OA O ON lo 500 750 400 650 250 250 375 5751 200 4200 325 325 23 12 Output Images The camera can output three types of images intensity images parallax images and distance images The details of each are described below Intensity image Includes intensity information of 8 bits 256 gradations 1280pix Inactive image area Active intensity image area N Inactive image area 24 Parallax image Includes parallax information of 32 bit fl
9. e or malfunction Do not use the product near flammable gas gasoline benzene thinner etc Doing so may cause an explosion fire or burn injury Do not use the product in locations where usage is restricted or prohibited such as in an airplane Doing SO may Cause an accident etc Do not use other than the dedicated AC adapter and power cord Doing so may cause a failure Do not use the AC cord supplied with the AC adapter with another device Doing so may cause a failure Do not use the product with a voltage other than the indicated power voltage Doing so may cause a fire or electric shock Do not cut damage or modify the power cord In addition placing a heavy load on the power cord or pulling or excessively twisting it may damage the power cord or cause a fire or electric shock When removing the power plug be sure to hold the power plug Do not pull the power cord Doing so may damage the power cord resulting in a fire or electric shock Wipe off any dust that accumulates on the power plug Failing to do so may cause a fire OO 0 00090 Do not remove or insert the power plug with a wet hand Doing so may cause an electric shock 4 O Do not place the product in an unstable location for use Doing so may cause an injury due to falling or tipping over Do not leave this product within the reach of infants and children Doing so may cause an accident because infants and childr
10. easurable range Blown out highlights Perform exposure adjustment for the camera and output adjustment for the lighting If specular reflection occurs install the lighting tilted toward the camera Perform exposure adjustment for the camera and output adjustment for the lighting 31 10 Appendix Warranty In the event that this product fails it will be repaired free of charge within one year of the date of purchase so please contact RICOH Industrial Solutions Inc You may need to bear some of the costs of shipment depending on the shipping method Note that the following cases are not covered by the warranty even within the above warranty period Failure resulting from misuse incorrect operation not in accordance with the user s manual Failure resulting from repair modification overhaul etc not conducted by an authorized service center specified by RICOH Industrial Solutions Inc Failure resulting from a fire natural disaster natural calamity lightning abnormal voltage etc Failure resulting from exposure to water dropping mud sand etc due to misuse Failure resulting from improper storage as described in the user s guide insufficient care etc RICOH Industrial Solutions Inc cannot compensate for any incidental damages resulting from a failure of this product costs incurred for recording and playback loss of profits that could have been earned by recording and playback etc About Open Source Software
11. en are incapable of understanding the information in Safety Precautions O Store the supplied plastic bags out of the reach of infants or dispose of them There is a risk of suffocation Caution O Before cleaning disconnect the power connector for safety reasons When the product will not be used disconnect the power connector for safety reasons Do not use the product wrapped in a cloth or other material Doing so may cause a fire Do not short the terminals or metal parts of the power cord Doing so may cause a fire Do not use the product in a kitchen or other place where it will be exposed to oily smoke and humidity or in a place with moisture Doing so may cause a fire or electric shock Do not leave the product with the lens facing the sun for a long period of time O An AC adopter with ferrite core must be used for RF interference suppression O A Lan Cable with a ferrite core must be used for RF interference suppression Warning This is a Class A product In a domestic environment this product may cause radio interference in which case the user may be required to take adequate measures Manufacturer RICOH Industrial Solutions Inc 3 2 3 Shin Yokohama Kohoku ku Yokohama shi Kanagawa 222 8530 Japan Importer RICOH IMAGING EUROPE S A S Parc Tertiaire SILIC 7 9 avenue Robert Schuman B P 70102 94513 RUNGIS CEDEX France FCC NOTE This equipment has been tested and found to comply with the
12. f the camera with R Stereo GigE Player installed on the PC Launch R Stereo GigE Player from the shortcut icon on the desktop or from the Start menu For details on operation refer to R Stereo GigE Player User s Guide 4 Turning the Power Off The power turns off when power stops being supplied to the power connector 8 Maintenance 1 User Calibration Sudden changes in temperature or an impact may cause the camera to become out of calibration resulting in a deterioration in accuracy In that case you can calibrate the camera using a dedicated calibration board and software 29 Required Items Dedicated calibration board SCP 300 User calibration software R GigE Calibration Overview of Calibration Following the instructions of the software complete calibration by capturing images while moving the chart in relation to the camera min i een Pa i i For details refer to R Stereo GigE Calibration User s Guide 2 Updating the Firmware You can update the firmware of the camera Download the latest firmware from our website 30 9 Troubleshooting No connection to Cable is not connected or Check the cable camera is broken Firewall Disable the firewall Unsupported operating Check the operating system system Parallax not output Out of calibration Perform calibration Outside measurement Adjust the installation position so that the subject range is within the m
13. ired equipment EJ Installation Describes how to install the camera Check the precautions on installation before beginning the work Equipment Connections Describes how to connect the equipment to be used and Wiring NA Operating Procedures Describes how to use the camera 2 Glossary The following terms are used in this manual Parallax image An image including parallax information captured by the camera Intensity image An image including intensity information captured by the camera Distance image An image including information on the distance from the camera to the work Working distance The distance range from the camera to the place of measurement 2 Workflow 3 System Specifications 1 What is RICOH SV M S1 This camera is a vision camera for 3D measurement The distance information obtained from the camera can be used by general purpose recognition software to measure and recognize randomly piled work to enable the work to be picked up by a robot The camera can be used for applications such as replacing a part feeder and simplification of a positioning device Main Features Various types of images can be output at 30 fps measured under the environment specified by RICOH Industrial Solutions by performing high speed arithmetic processing within the hardware High precision measurement over a wide range is achieved due to unique calibration techniques The camera is shipped calibrated so
14. it is ready to use immediately The settings can be configured and the operation can be checked easily with a PC The user can calibrate the camera user calibration using dedicated chart and application software 2 Measurement Principle This camera employs triangulation to calculate the distance information from the texture information of an object captured with the two built in cameras As a result the distance information of a surface without texture information cannot be obtained However it can be obtained by projecting a random pattern onto the subject using our recommended lighting Recognition processing and other matching precision are improved by using dense distance information Intensity image Parallax image 800 mm No lighting 1200 mm 800 mm Lighting 1200 mm 3 System Configuration Example Connect this camera to a peripheral device using a LAN cable for communication and a cable for the power supply LAN Cable Cat 5e or Higher To power supply 4 RICOH SV M S1 Specifications Veasremeni mats Targa ereo mero O O mm e EE orig tas mooom Measurement visual field Approx 500 to 400 mm Measurement viewing angle horizontal x vertical conversion Horizontal Approx 28 degrees Measurement error Approx 1 mm when 1 m Reference value determined under conditions specified by RICOH Industrial Solutions It varies depending on the measurement environment and subject Image out
15. ith other symbols to indicate that a specific action is prohibited e Display examples Do not touch Do not disassemble Observe the following precautions to ensure safe use of this product AN Danger D e Do not disassemble repair or modify this product Q e f an abnormality such as an unusual odor or smoke being emitted or overheating occurs stop using the product immediately Call the RICOH Industrial Solutions contact number and request repairs A Warning Q In the event that you notice an abnormal state such as smoke or unusual odor being emitted turn off the power immediately Quickly remove the power connector while taking care to avoid an electric shock or burn Then call the contact number Do not continue using the product because doing so may result in a failure or malfunction Q In the event that foreign matter metal object water or other liquid etc enters inside the product turn off the power immediately Quickly remove the power connector while taking care to avoid an electric shock or burn Then call the contact number Do not continue using the product while there is a failure or malfunction Do not touch the internal components if they become exposed as a result of the product being dropped or damaged Quickly remove the power connector while taking care to avoid an electric shock or burn Then call the contact number Do not continue using the product while there is a failur
16. ng R Stereo GigE Player ici A a et 29 4 tomning Me POW CO sica tds id cito 29 0 MAINTENANCE O sete IA E eee ett eee need eee 29 Cis o ined tnatcecsedeiadenees 29 2 Cat THE FINALE E as 30 Mist A 31 10 AD DCNGIX aria ai 32 A e ata 32 About ODEN Source SO W inicial 32 A A A es we te errr eye eee 32 li REVISION ASTON Rd A AA Wad hae Ope teh es be 33 Introduction Thank you for choosing RICOH Industrial Solutions Inc s RICOH SV M S1 hereinafter referred to as this camera Be sure to read this document before use and use the product correctly Please store this document where it will be easily accessible Safety Precautions About the Symbols The symbols in this document and on the product include various symbols for ensuring safe and correct use of the product and for preventing injury to you and others and damage to property The symbols and their meanings are shown as follows Danger This symbol indicates matters that may lead to imminent risk of death or serious injury if ignored or incorrectly handled This symbol indicates matters that may lead to death or serious injury if ignored or A Warning incorrectly handled This symbol indicates matters that may lead to injury or physical damage only if ignored N Caution or incorrectly handled Symbol Examples Q The symbol alerts you to actions that must be performed The symbol alerts you to prohibited actions The symbol may be combined w
17. oat pl 1 35pix 11pix l Inactive image area Active Pallax image area _960pix 938pix Distance image Includes parallax information of 32 bit float 1280pix pix 1134pix 135pix i 11pix a Inactive image area Active Distance image area 960pix 938pix 25 13 Restrictions Measurement Targets Work with the following characteristics may be difficult to measure Transparent object Specular object High gloss object Black object Deep color object Object with complicated shaped surfaces Object which moves at high speed Object that is 1 cm or smaller Object for which the same pattern continues such as a fence Non Measurable Area of Parts Supply Box When the pattern is projected onto the work by the projector there are portions for which the projected pattern is blocked by the wall surface of the parts supply box These portions may not be able to be adequately measured compared with the portions on which a pattern is projected In that case the area for which the projected pattern is blocked in the vicinity of the wall surface can be reduced by positioning the wall surface facing outwards About Work Distance Place the measurement target at the working distance specified in the specifications because measurement outside the working distance range is not possible 26 4 Checks Before Use 1 Product Checks The standard components of this product are shown
18. put rate Value determined under conditions specified by RICOH Industrial Solutions Shutter method Rolling shutter BR Trigger mode Free run 30 fps Software trigger Operates in free run mode 30 fps immediately after startup Image output Intensity image 8 bit Parallax image 32 bit float Distance image 32 bit float Exposure time setting Approx 0 to 33 m sec range Powerconsumption 12W CIO External dimensions W x Approx 232 x 40 x 140 mm Excluding projections H x D Operating Conditions Operating temperature 0 to 45 C range Storage temperature 20 to 60 C range Relative humidity 85 orlower Operating environment No corrosive gas dust and oil mist D 5 Names of Parts Back RJ45 connector 12 Bottom 1 4 20UNC Screw for Tripod 6 External Dimensions Front Side Bottom 42 5 15 4 12 depth 4 Hale for pogitioning main 15 gt 4x M depth 55 k 1 4 2D0UNGIJIS B71 Jlscrew depth 5 Aldo depth 4 Long hola for positioning sub 14 Back LED 1 It shows the operation situation of this product LED2 It shows the operation situation of this product Power supply connector 2xM2 depth4 R10A 10R 12PB 71 made by Hirose It is a connector for power supply input The cable side please use an HRIOA 10P 125S equivalency product RJ45 connector X
19. tion Orientation of Camera The camera has been calibrated at the time of shipment When installing it pay attention to the following points Distance The range of 1 m 200 mm from the reference position is the measurable distance Parallelism If the camera is installed with too much of a tilt errors may occur with the measurable distance 2 Installation Orientation of Pattern Lighting Pay attention to the following points when installing the pattern lighting in combination with the camera Relative Distance Place the lighting as near to camera as possible 28 Relative Angle If the specular reflection on for example a glossy object occurs it can be reduced by tilting the lighting toward the camera 6 Equipment Connections and Wiring 1 Connecting the Power Cable Connect the power cable to the power connector on the back of the camera Connect the supplied AC adapter or HR10A 10P 12S Hirose Electric Co Ltd or an equivalent connector 2 Connecting the LAN Cable Connect the LAN cable to the LAN connector on the back of the camera 7 Operating Procedures 1 IP Address Preparation When you connect the camera to a network one IP address is required for the camera Ask the network administrator to provide an IP address 2 Turning the Power On The camera turns on automatically when power is supplied to the power connector 3 Launching R Stereo GigE Player Configure the settings o
20. use damage to the light receiving element or other components resulting in measurement no longer being possible Do not use the product in an environment with sudden changes in temperature or humidity Doing so may prevent correct measurement In addition it may cause a failure Use the product within the temperature and humidity ranges specified for the operating conditions This product uses precision optical parts Therefore do not subject the product to physical shock such as strong vibration or a drop during use storage or transport Doing so may cause a failure When the product will not be used take measures to protect the lens so that it does not become dirty or scratched Furthermore do not touch the lens except during cleaning Store the product under normal room temperature and humidity Make sure the power connector is in a disconnected state during storage 1 About This Manual 1 Contents of This Manual This manual describes how to use the camera lt consists of the following chapters For an explanation of the SDK refer to SDK Instruction Manual About This Manual Describes the structure of this manual Workflow Describes the work required to build a system to use the camera Perform the work appropriately System Specifications Describes the specifications of the camera system Checks Before Use Describes the product configuration and the equipment to prepare Check that you have all the requ
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