User manual | scorpion 3d stinger™ camera

Tordivel as
Storgata 20, N-0184 Oslo, Norway
www.scorpionvision.com
Scorpion 3D Stinger™ Camera
Scope
Scorpion Stinger™ is a family of machine
vision components and products. They
provide building blocks for OEM and
system integrators.
The Scorpion 3D Stinger Camera is designed to be used in cutting-edge 3D Stereo Vision
applications with or without structured light. It is compatible with the latest 3D version
of Scorpion Vision Software and locates moving objects in 3D in real-time.
The unit is designed to be used in 3D Robot Vision, 3D Laser Triangulation, 3D Gauging,
3D Assembly Verification and other advanced Machine Vision Solutions.
Scorpion 3D Stinger ™ products have focus on:
• industrial strength
• flexibility
• functionality
The Scorpion 3D Stinger™ Camera is carefully
manufactured and designed using the finest
components available. It is unique providing
the following features:
Superior Projector Options
• Power from 1mW to 500mW
• Red Laser or Infrared projectors
• Single Line, Multiple Line and Random
Pattern Projection Pattern
• Built in Strobing for Laser and LEDs
Industrial Housing IP-64
• 24 Volt power supply
• 30 mm and 200 mm baseline versions
High Quality Image Sensors
• CMOS or CDD Image Sensor
• VGA to 5MP Resolution
• Monochrome or Color
Proven software support
• Compatible with Scorpion Vision
Software
• Scorpion 3D Stinger Dense Image
Creator Application
For more information:
Tordivel AS
Phone +47 2315 8700
Fax +47 2315 8701
[email protected]
www.scorpionvision.com
Scorpion Vision Software® is a registered
trademark and Scorpion 3D Stinger™ is a
trademark of Tordivel AS.
PD-2011-0002-E Scorpion 3D Stinger Camera
The components are selected with the highest quality. The unit’s design will save manhours when creating and deploying 3D Machine Vision Solutions. The 200 mm baseline
unit, with a nominal weight of 3.5 kg, can be mounted on a robot.
The 30 mm baseline unit can replace a standard 2D camera where a sense of 3D is
needed for object location, measurement or assembly verification.
The 3D Camera is the perfect companion for Scorpion Stinger for Robot Vision. Scorpion
Vision Software can control multiple 3D cameras from a single Scorpion Compact PC.
Combining multiple 3D cameras can be used to provide multiple viewing angles and to
extend 3D FOV without losing resolution. The state-of-art multi-core support ensures the
fastest and most robust 3D Stereo Vision solutions.
The unique one-push 3D calibration technology provided by Scorpion secures optimal
performance and easy maintenance. The 3D - z resolution is by rule-of-thumb equal to
the pixel resolution in 2D. This means that a cube of 1 m x 1 m x 0.5 mm can be resolved
by 1 mm with a 1.3 MPixel 3D Camera.
The Scorpion Stinger Control Card provides the ability to capture one 3D images with a
laser projection and then capturing a 2D image set.
The 3D images are used to locate objects in 3D. In the 2D image, the 3D references from
the 3D image is used to do 3D measurements in 2D images with the highest possible
accuracy.
1
Specifications are subject to change without notice
© 2011 -2015 Tordivel AS
Tordivel as
Storgata 20, N-0184 Oslo, Norway
www.scorpionvision.com
Scorpion Camera Stinger ™ Features
Stereo Vision is the extraction of 3D
information from digital images, such as
obtained by a Scorpion 3D Stinger Camera.
2D Image Calibration is performed by the
Scorpion tool # 15- Calibrator.
By comparing information about a scene
from two vantage points, 3D information
can be extracted by examination of the
relative positions of objects in the two
panels.
One Push 3D Calibration is a concept for
automatic fast, accurate and reproducable
multiple 3D camera calibration using one
single image and a Scorpion Stinger 3D
Calibration object.
Scorpion Stinger control card
The Scorpion Vision Software tool # 97 Locate3D calculates the 3D position x,y,z
of two corresponding points from two 3D
Calibrated Images.
The Scorpion 3D Stinger Stereo Vision
Calculator calculates the 3D FOV
One Push 3D Calibration Status Panel
Active Stereo Vision signified that energy
in the form of light is projected into the
scene.
Image Rectification - Image rectification is
supported by tool component STC-0084
StereoRectify3D.
This transforms two 3D Calibrated images
into two stereo rectified images where all
epipolar lines are parallel to the horizontal
axis and the corresponding points have
identical vertical coordinates.
The Scorpion 3D Stinger Camera is an
industrial stereo vision camera in an IP-64
enclosure. The camera is supporting passive and active stereo vision. The camera
is supplied with 24 volt and an ethernet
connection. Active Stereo Vision is supported by the means of integrated white
or IR high power leds, structured illumination with different pattern based on red or
IR lasers.
Structured Illumination - the Scorpion
3D Stinger Camera supports multiple
projection patterns to solve the following
challenges: create features on featureless
surfaces, solve the basic feature correspondence problem.
The following patterns are supported:
Single Line, Multiple Lines and RPP Random Projection Pattern. The user can
choose Red or IR laser projection from 1
mW to 500 mW.
Standard High Quality GigE Cameras from
Sony and Basler is used as image sensors
in the Scorpion 3D Stinger Camera.
Resolution from VGA to 5MP is supported
with monochrome or color CMOS or CCD
sensors optimized for price, speed or image quality.
The Stinger Control Card strobes the laser
and the LED illumination. This is important
to meet the Laser Safety requirements for
machine vision system.
Image rectification
PD-2011-0002-E Scorpion 3D Stinger Camera
Strobing also improves the ambient light
protection and the Signal to Noise ratio of
the projected pattern.
2
Scorpion 3D Stinger™ Camera is
designed for 3D Bin Picking
Specifications are subject to change without notice
© 2011 -2015 Tordivel AS
Tordivel as
Storgata 20, N-0184 Oslo, Norway
www.scorpionvision.com
30 mm and 200 mm Baseline - the Scorpion 3D Stinger Camera is manufactured
in two different baseline models.
The 200 mm baseline version is designed
for Robot Vision and Gauging applications.
Sparse 3D Image Creation - Scorpion Vision
can accumulate single, multiple 3D feature
points into a 3D Point cloud.
The 3D images are often used to locate an
object plane with tool 121 - PlaneFit3D.
RPP - Random Pattern Projection - a laser
with a random pattern projector is used
to project random texture onto the two
images. The disparity of the projected pattern is ideal for BlockMatching.
The typical 3D FOV is a Euro Pallet - W =
800 x H = 1200 mm x D = 500 mm.
The 1.3 MPixel model has a 2D x,y resolution of 0.1 mm and a typical depth resolution 1.0 mm with a good 3D Calibration.
The 30 mm baseline is to be used at a typical 3D FOV distance from 200 to 600 mm
and an area from 100 x 100 mm to 350 x
350 mm. Depth resolution from 0.1 mm.
The 3D edge points from a circular
object. Can be located by PlaneFit3D
Single Line Projection is normally used for
Laser Triangulation. Scorpion 3D Stinger
Cameras for standard Laser Triangulation
are available. The Scorpion tool # 166 LaserProfiler3D provides an easy means
to create point clouds from a sequence of
images with a single line laser projection.
Single Laser Line Projection from a
Scorpion 3D Scanner
Scorpion 3D Stinger™ 30mm Camera
and Scorpion 3D Stinger™ Camera
Multiple Line Projection - a laser with a
multiple line projector is used to project
structured light on an object or on a plane.
This projection provides superior accuracy
in measurment application.
The projected lines can be located in
3D with the advanced tool component
STC-0064-LocatePaths3D. The sparse
3D information from multiple 3D points
generators is moved into a 3D Image for
further processing.
The Scorpion ExtractMap3D converts
a Point Cloud to 2D Image where the
intensity represents Z or the height
PD-2011-0002-E Scorpion 3D Stinger Camera
Multiple Lines are suitable for 3D Sack
Picking from a pallet
3
Random Pattern Projection
Dense 3D Image Creation - Scorpion Vision
Software supports different means of
Dense 3D Image Creation. 3D scanning using 3D Laser Triangulation with a Scorpion
3D Stinger Camera and a Single Line Laser
is a basic and proven method when the
object or the camera is moving.
The tool component STC-0083 DisparityMap3D produces a dense 3D image within
a 3D FOV from two stereo rectified images.
The method can be used with passive and
active stereo vision.
A RPP - Random Pattern Projection laser
will guarantee features on a featureless
surface and improve the applicability of
block matching. The STC supports multiple
Block Matcher to handle different block
matching scenarios.
3D Point Cloud - A 3D image or 3D point
cloud is an ordered or unordered sequence
of 3 points.
3D point cloud
Specifications are subject to change without notice
© 2011 -2015 Tordivel AS
Tordivel as
Storgata 20, N-0184 Oslo, Norway
www.scorpionvision.com
Hardware ConfIguration
The typical system contains two cameras with lenses, power and easy mounting. The
standard unit is ready for GigE vision with an internal switch, a termination panel and
an internal DC-DC conversion. The unit is fed with 24 volts. Internally 5V and 12V are
available to power cameras, laser and other internal and external components.
Article #
C=Camera
BL= Baseline MM
N=camera lens
M=LED type1)
O=LED lens
Comment
STG-3D-C-N-M-O-BL
2 x GigE camera
30 mm | 200 mm
6 | 8 | 12 | N mm
White | IR
24,2˚ | 33,5˚
Passive Stereo
STG-LASER-C-N-M-O-BL
1 x GigE camera
200 mm
6 | 8 | 12 | N mm
White
24,2˚ | 33,5˚
Red laser 660 nm
STG-LASER-DUO-C-N-M-O-BL
2 x GigE camera
30 mm | 200 mm
6 | 8 | 12 | N mm
White
24,2˚ | 33,5˚
Red laser 660 nm
STG-MLASER-C-N-M-O-BL
2 x GigE camera
30 mm | 200 mm
6 | 8 | 12 | N mm
White | IR
24,2˚ | 33,5˚
Multiline laser
STG-RPP-C-N-M-O-BL
2 x GigE camera
30 mm | 200 mm
6 | 8 | 12 | N mm
White | IR
24,2˚ | 33,5˚
Random Pattern Projection laser
1) LED is optionall Other configuration available upon request
Cameras 200mm version
Triggering
There are two trigger inputs on the Scorpion Stinger Interface Board inside the
Scorpion 3D Stinger Camera. The standard
input is straight via an opto-coupler: +A4
and -A5. An input with debounce circuitry
is also available: +A1 and -A2.
Relay Mode
The standard Trigger Input used is through
an opto-coupler where the +input (A4 or
A1) is connected to 5 volt (A3) through a
pullup resistor and the -input (A5 or A2) is
connected to GND (A6).
Cameras
Type
Sensor
VGA
VGA-640gm
Sony XCG-V60E
Basler acA640-120gm
1/3” CCD 640 x 480
1/4” CCD 640 x 480
SXGA
Sony XCG-SX99E
2/3” CCD 1280 x 1024
SXGA-1300gc
Basler acA1300-60gc
1/2” CMOS 1280 x 1024 Color
SXGA-1300gm
Basler acA1300-60gm
1/2” CMOS 1280 x 1024
2MP
Sony XCG-U100E
1/1.8” CCD 1600 x 1200
3MP-IR
Sony XCG-H280
2/3” CCD 1920 x 1280
5MP
Sony XCG-5005E
2/3” CCD 2500 x 2000
2MP-C
Sony XCG-U100CR
1/1.8” CCD 1600 x 1200 Color
Cameras 30mm version
Cameras
Type
Sensor
VGA-640gm
Basler acA640-120gm
1/4” CCD 640 x 480
SXGA-1300gc
Basler acA1300-60gc
1/2” CMOS 1280 x 1024 Color
SXGA-1300gm
Basler acA1300-60gm
1/2” CMOS 1280 x 1024
Interface board switch setup
Switch
Default Off means
On means
SW 1.1
On
No boost charge
Boost charge during LED pulse
SW 1.2
On
Capacitor charge current 190 mA
Capacitor charge current 480 mA
24 V Trigger Input
By removing the pullup resistor (A3) and
the GND connection (A6) the relay input is
turned to a 24 volt input.
SW 2.1
On
Select timeout 1,7 sec
Select timeout 163 ms
SW 2.2
Off
LED current 3A
LED current 1A
SW 3.1
Off
LED pulse limit 75 ms
LED pulse limit 6,3 ms
SW 3.2
Off
Laser pulse limit 75 ms
Laser pulse limit 6,3 ms
The default configuration for the trigger
input is with a pullup resistor.
SW 4.1
Off
LED pulse every 2nd image capture
LED pulse every image capture
SW 4.2
Off
Laser pulse every 2nd image capture
Laser pulse every image capture
PD-2011-0002-E Scorpion 3D Stinger Camera
4
Specifications are subject to change without notice
© 2011 -2015 Tordivel AS
Tordivel as
Storgata 20, N-0184 Oslo, Norway
www.scorpionvision.com
Scorpion 3D Stinger 200 mm Baseline Camera
The Scorpion 3D Stinger Camera™ is a high performance industrial camera enclosed in
an IP rated industrialised housing which contains electronics for illumination, camera
connectivity and power distribution. The 200 mm baseline version is designed to be
mounted on a robot or placed over a pallet.
Scorpion 3D Stinger 200 mm Camera
Power consumption
The units is powered with 24 Volt
Type typical power consumption is 12-18
Watts. The actual power consumption
depends on camera configuration.
Connector
A
Connector
B
1
INPUT 24V +
1
OUT 12V+
2
INPUT 24V GND
2
OUT 12V GND
3
Expo Out
3
Trig +
4
LED DIM Out
4
Trig -
5
Out 5V+
5
LED +
6
Out 5V GND
6
LED -
7
Laser On
8
Laser On GND
Dimensions - Weight 3.5 kg
9.500in
241.30mm
9.500in
241.30mm
8.925in
226.70mm
8.925in
4X M6x1
226.70mm
4X M6x1
10.500in
266.70mm
10.500in
266.70mm
3.757in
95.42mm
3.757in
CORD GRIP
95.42mm
1.650in
41.91mm
1.650in
10.500in
266.70mm
The 200 mm baseline version is designed
for Robot Vision and Gauging applications.
8.000in
203.20mm
8.000in
203.20mm
11.500in
292.10mm
9.675in
245.75mm
10.775in
273.69mm
6.713in
170.51mm
4.745in
120.51mm
0.725in
18.42mm
The typical 3D FOV is a Euro Pallet W = 800 x H = 1200 mm x D = 500 mm.
0in
0mm
9.675in
245.75mm
9.675in
10.775in
245.75mm
273.69mm
10.775in
11.500in
273.69mm
292.10mm
11.500in
292.10mm
0mm
CORD GRIP
4.745in
120.51mm
4.745in
120.51mm
6.713in
170.51mm
6.713in
170.51mm
41.91mm
0.575in
10mm
14.61mm
0.575in
14.61mm 0in
0in 0mm
CORD GRIP
1.750in
44.45mm
1.750in
The 1.3 MPixel model has a 2D x,y resolution of 0.1 mm and a typical depth resolution 1.0 mm with a good 3D calibration.
2.044in
51.92mm
2.044in
51.92mm
2.044in
3.688in
51.92mm
93.68mm
3.688in
93.68mm
0.420in
10.67mm
0.420in
10.67mm
44.45mm
8.000in
203.20mm
m
10mm
10mm
5.725in
145.42mm
5.725in
145.42mm
0in
0mm
0in
0.725in0mm
18.42mm
0.725in
18.42mm
The Scorpion 3D Stinger™ Camera consists of:
• an IP-64 aluminium enclosure
• typically two cameras with lenses
• optional LEDs and Laser
• termination panel & cables
• Scorpion Stinger Control Card
4X M6x1
- strobing
- 24v input, 5v and 12v output
• GigE switch
3.688in
93.68mm
UNLESS OTHERWISE SPECIFIED:
FINISH:
DIMENSIONS ARE IN INCHES
BLACK
SURFACE FINISH:
UNLESS OTHERWISE
SPECIFIED:
TOLERANCES:
.000= +/- FINISH:
0.005"
ANODIZE
DIMENSIONS ARE IN INCHES .00= +/- 0.010"
BLACK
SURFACE FINISH:
LINEAR:
DEBUR AND BREAK SHARP EDGES
TOLERANCES: .000= +/- 0.005"
ANODIZE
.00= +/- 0.010"
DATE
SIGNATURE
NAME
LINEAR:
DEBUR AND BREAK SHARP EDGES
DRAWN
SCHUBERT
4/14/2011
DATE
SIGNATURE
NAME
CHK'D
DRAWN
SCHUBERT
4/14/2011
APPV'D
CHK'D
MFG
APPV'D
Q.A
MFG
NOTES:
Allison Park Gro
4055 Alpha Driv
AllisonAllison
Park Group,
Inc
Park, PA
4055 Alpha Drive
AllisonPhone
Park, PA
+1 15101
(412)
Fax
+1 (412)
Phone +1 (412) 487-82
Fax www.apgvision
+1 (412) 486-31
3.944in
100.18mm
0.420in
10.67mm
www.apgvision.com
MATERIAL:
Q.A
Saved on Thursday, April 14, 2011 2:01:46 PM
NO.
Saved on Thursday, April 14, 2011 2:01:46 PM
UNLESS OTHERWISE SPECIFIED:
DIMENSIONS ARE IN INCHES
SURFACE FINISH:
TOLERANCES: .000= +/- 0.005"
.00= +/- 0.010"
LINEAR:
NAME
PD-2011-0002-E Scorpion 3D Stinger Camera
DRAWN
CHK'D
APPV'D
MFG
Q.A
NOTES:
SCHUBERT
FINISH:
BLACK
ANODIZE
DEBUR AND BREAK SHARP EDGES
SIGNATURE
DATE
4/14/2011
NO.
Allison Park Group, Inc. (APG)
4055 Alpha Drive
Allison Park, PA 15101 USA
Phone +1 (412) 487-8211
Fax
+1 (412) 486-3157
5
ALUMINUM
CHANGE
DO NOT SCALE DRAWING
DATE
DATE
TITLE:
INIT.
WEIGHT:
WEIGHT:
REVISION
Specifications
are subject to change without notice
CS-BZ
(Tordivel) 4VIEW
© 2011 -2015 Tordivel AS
DWG NO.
ALUMI
MATERIAL:
INIT.
This document is the property of APG and is considered company confidential.
The information in this document is the property of APG and may not be used,
reproduced, or distributed in whole or in part without the prior written permission of
APG
www.apgvision.com
MATERIAL:
CHANGE
NOTES:
A3
ALUMINUM
Tordivel as
Storgata 20, N-0184 Oslo, Norway
www.scorpionvision.com
Scorpion 3D Stinger 30 mm Baseline Camera
The Scorpion 3D Stinger Camera™ is a high performance industrial camera enclosed in
an IP rated industrialised housing which contains electronics for illumination, camera
connectivity and power distribution.
The camera is self-contained with integrated illumination and can replace a 2D Camera
where a sense of 3D is needed or required.
The compact 30 mm version is provided in two basic versions with two GigE cameras:
Scorpion 3D Stinger 30 mm Camera
•
•
A stereo vision version with optional White or IR LED
A RPP Camera version with a red 35 mW RPP laser.
The 30 mm baseline is to be used at a typical 3D FOV distance from 200 to 600 mm and
an area from 100 x 100 mm to 350 x 350 mm. Depth resolution from 0.1 to 0.5 mm with
1.3 MegaPixel camera.
Power consumption
The units is powered with 24 Volt
Type typical power consumption is 12
Watts. The actual power consumption
depends on camera configuration.
The Scorpion 3D Stinger™ Camera consists of:
• an IP-64 aluminium enclosure
• typically two cameras with lenses
• optional LEDs and Laser
• termination panel & cables
• Scorpion Stinger Control Card
- strobing
- 24v input, 5v and 12v output
Dimensions - Weight 1.8 kg
Connector
1
INPUT 24V +
2
INPUT 24V GND
3
Out 5V+
4
Out 5V GND
5
Laser On
6
Trig +
7
Trig -
Housing dimensions 30mm baseline
version: top view and back plane.
PD-2011-0002-E Scorpion 3D Stinger Camera
6
Specifications are subject to change without notice
© 2011 -2015 Tordivel AS

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