ESPROS Epc610 Manuale utente

Manual – epc610 Camera Module V1.0

Time-of-flight camera epc610, 8x8 pixel

General Description

The epc610 Camera Module V1.0 is a fully assembled a d tested

3D TOF camera for the evaluatio of the epc610 Time of Flight

(TOF) product.

The module i cludes a epc610 TOF Imager chip, a active IR

LED illumi atio for the observatio area, a complete le s system

a d has a cable i terface to the mai board, allowi g a flexible a d

co ve ie t placeme t i a lab setup. The module has a 8.7° x 8.7°

optical aperture a gle.

I combi atio with the epc600/610 Evaluatio Kit, which provides

all hardware to operate the epc610 Camera Module V1.0, the user

has a fully fu ctio al TOF imager evaluatio system.

The i cluded comprehe sive applicatio software e ables the user

to explore the 3D TOF tech ology as well the epc610 imager chip.

Features

■Fully fu ctio al TOF camera with 8x8 pixel epc610 Imager chip.

■Comprehe sive applicatio software with graphical user i terface

to operate the epc610 chip i side the camera.

■Automatic mode with adaptive i tegratio times.

■Ma ual mode to ru the camera i i dividual set-up or to a alyze

raw data.

■Possibility to store a d reload operati g co figuratio s.

■Fu ctio ality for loggi g measureme t data o PC.

Purpose

■Performa ce demo stratio of the epc610 chip i terms of

speed, operati g ra ge a d accuracy.

■Demo stratio a d evaluatio hard- a d software.

■Developme t system for user's ow epc610 chip applicatio .

Overview

Figure 1: The epc610 Camera Module V1.0 Figure 2: The mai dialog of the graphical user i terface

with 3D data represe tatio

153mm

19.1mm

353mm

Figure 3: Field of view of the camera Figure 4: Illumi atio spot size

a d pixel field i the object area

Receiver spot: 153 x 153 mm (8.7° x 8.7°)

Emitter spot: 353mm diameter ≙ □ 250 x 250mm

Characteristics subject to cha ge without otice

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 IMPO TANT INFO MATION 

SAFETY ADVICE

DO NOT LOOK DI ECTLY INTO THE CAME A UNDE OPE ATION !

Depe di g o the mode of operatio , the camera device emits highly co ce trated o -visible i frared light. It ca be hazardous to the

huma eye. The use of these devices has to follow the safety precautio s give i IEC 60825-1 a d IEC62471.

THIS EVALUATION KIT SHOULD ONLY BE INSTALLED AND USED BY AUTHORIZED AND FULLY TRAINED PEOPLE. ALL IN-

STRUCTIONS IN THIS MANUAL AND IN THE RELATED DOCUMENTS HAVE TO BE FOLLOWED AND FULLY COMPLIED WITH. IN

ADDITION, THE INSTALLER AND USER IS REQUIRED TO COMPLY WITH ALL LOCAL LAWS AND REGULATIONS. SHOULD ANY

OF THESE INSTRUCTIONS NOT BE CAREFULLY FOLLOWED, SERIOUSLY INJURY MAY OCCUR. THE INSTALLER AND USER IS

FULLY RESPONSIBLE FOR THE SAFE USE AND OPERATION OF THE SYSTEM. IT IS THE SOLE RESPONSIBILITY OF THE IN -

STALLER AND THE USER TO ENSURE THAT THIS PRODUCT IS USED ACCORDING TO ALL APPLICABLE CODES AND STAN-

DARDS IN ORDER TO ENSURE SAFE OPERATION OF THE WHOLE APPLICATION.

ANY ALTERATION TO THE DEVICES BY THE BUYER, INSTALLER OR USER MAY RESULT IN UNSAFE OPERATING CONDITIONS.

ESPROS photo ics AG IS NOT RESPONSIBLE FOR ANY LIABILITY OR WARRANTY CLAIM WHICH RESULTS FROM SUCH MANIP-

ULATION.

THIS DEVICES MAY NOT BE USED FOR APPLICATIONS OTHER THAN THE EVALUATION OF THE DESIGNATED DEVICES.

THIS DEVICES MAY NOT BE USED IN SAFETY APPLICATIONS, EXPLOSIVE ATMOSPHERES, OR IN A RADIOACTIVE ENVIRON-

MENT.

 IMPO TANT INFO MATION 

THIS CAME A COMES WITH ITS OWN CALIB ATED FI MWA E.

For proper operatio of the Evaluatio Kit upload the correct firmware from the CD ROM to the evaluatio board.

Do this each time, whe you are cha gi g the camera module.

User i terface:

Use the dialog “Firmware setti gs” Upload the bi ary file “epc60x_fw_xxx_se sor”

ALSO, MAKE SU E THAT YOU ALWAYS USE THE LATEST SOFTWA E VE SION ON YOU MAC / PC.

USE THE APP OP IATE INSTALLE THAT IS ALSO ON THE CD.

 IMPO TANT INFO MATION 

THIS CAME A COMES WITH FOCUSED OPTICS.

Do ot touch the le s. Do ot twist or tur the le s. Otherwise a degradatio of the measureme t occurs.

Characteristics subject to cha ge without otice

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Table of Contents

Ge eral Descriptio ............................................................................................................................................................................................1

Features............................................................................................................................................................................................................. 1

Purpose.............................................................................................................................................................................................................. 1

Overview.............................................................................................................................................................................................................1

1. Ge eral overview of the epc600/610 Evaluatio Kit .................................................................................................................................4

1.1. Orderi g i formatio .............................................................................................................................................................................. 4

1.2. Scope of delivery................................................................................................................................................................................... 4

1.3. System requireme ts for host computer............................................................................................................................................... 5

1.4. System requireme ts for the Evaluatio Kit mai board ........................................................................................................................ 5

1.5. Tech ical data epc610 Camera Module V1.0 ........................................................................................................................................5

1.6. Support a d tech ical co tact ............................................................................................................................................................... 5

2. Hardware.................................................................................................................................................................................................. 6

2.1. Block diagram........................................................................................................................................................................................ 6

2.2. Schematics............................................................................................................................................................................................ 8

2.3. Assembly & part list............................................................................................................................................................................... 9

2.4. Hardware of the camera...................................................................................................................................................................... 10

2.5. Camera co ector J1.......................................................................................................................................................................... 10

3. Evaluatio Kit mai board........................................................................................................................................................................10

4. Setup & i stallatio ................................................................................................................................................................................. 11

4.1. Software i stallatio ............................................................................................................................................................................. 11

4.1.1. SW i stallatio o PC....................................................................................................................................................................... 11

4.1.2. SW i stallatio o Mac..................................................................................................................................................................... 12

4.2. Ru i g the epc610 applicatio .......................................................................................................................................................... 12

5. Software “epc610 evaluatio system” a d user i terface ...................................................................................................................... 14

5.1. Overview.............................................................................................................................................................................................. 14

5.1.1. User I terface Overview................................................................................................................................................................... 14

5.1.2. Basic operatio ................................................................................................................................................................................. 15

5.1.3. Co trol widgets................................................................................................................................................................................. 16

5.1.4. Pixel field orie tatio .........................................................................................................................................................................16

5.1.5. Widget “3D Graph”............................................................................................................................................................................17

5.1.6. Widget “3D Numerical” (Dista ce a d quality)................................................................................................................................. 17

5.1.7. I tegratio time a d temperature dialog (Widget “3D Graph” a d “3D Numerical“) ........................................................................ 17

5.1.8. Widget “Bright ess” (Grayscale image)........................................................................................................................................... 18

5.1.9. I tegratio time a d Greyscale resolutio (Widget “Bright ess“) .................................................................................................... 18

5.1.10. Dista ce ra ge setti gs (Widget “Setti gs”) ...................................................................................................................................19

5.1.11. Register map (Widget “Setti g”)..................................................................................................................................................... 19

5.1.12. Display refresh rate (Widget “Setti g”)........................................................................................................................................... 19

5.1.13. Firmware setti gs (Widget “Setti gs”)............................................................................................................................................ 20

5.1.14. Calibratio setti gs (Widget “Setti gs”) ..........................................................................................................................................20

5.1.15. Applicatio setti gs (Widget “Setti gs”) ..........................................................................................................................................20

5.1.16. Widget “Correlatio Samples”........................................................................................................................................................ 21

5.1.17. Widget “2D Histogram of dista ce a d DC light” ........................................................................................................................... 21

5.1.18. Widget “I t. time a d amplitude”.....................................................................................................................................................22

5.1.19. Log dialog....................................................................................................................................................................................... 22

5.2. Additio al tech ical i fo a d defi itio s ...............................................................................................................................................23

6. Further Applicatio otes........................................................................................................................................................................ 23

6.1. Illumi atio ...........................................................................................................................................................................................23

6.2. Ambie t-light & wavele gth................................................................................................................................................................. 23

6.3. Noise reductio ....................................................................................................................................................................................23

6.4. Temperature compe satio ................................................................................................................................................................. 24

6.5. Li earity correctio .............................................................................................................................................................................. 24

6.6. Special phe ome a............................................................................................................................................................................. 24

6.7. Motio blurri g (Fast movi g objects)................................................................................................................................................. 24

6.8. Tra spare t objects............................................................................................................................................................................. 24

6.9. Cha gi g remissio (reflectivity)......................................................................................................................................................... 24

6.10. I direct light reflectio s......................................................................................................................................................................24

6.11. Co vex surfaces................................................................................................................................................................................ 24

6.12. Highly reflective backgrou d objects.................................................................................................................................................24

6.13. Light scatteri g.................................................................................................................................................................................. 25

7. Mai te a ce a d disposal...................................................................................................................................................................... 25

7.1. Mai te a ce........................................................................................................................................................................................ 25

7.2. Disposal............................................................................................................................................................................................... 25

8. Adde dum...............................................................................................................................................................................................25

8.1. Related docume ts..............................................................................................................................................................................25

8.2. Li ks.....................................................................................................................................................................................................25

8.3. Lice ses...............................................................................................................................................................................................25

IMPORTANT NOTICE...................................................................................................................................................................................... 26

Characteristics subject to cha ge without otice

3 / 26 Ma ual epc610_Camera - V1.5

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1. General overview of the epc600/610 Evaluation Kit

The chapter gives a overview about the epc600/610 Evaluatio Kits, their compo e ts a d the tech ical data for this module.

1.1. Ordering information

Part number Order information Description

Kits P100 110 epc600 Evaluatio Kit Spot Evaluatio kit set with a epc600 TOF Ra ge Fi der chip

–epc600 Camera Spot

–epc600/610 Evaluatio Kit Mai board

P100 227 epc610 Evaluatio Kit Evaluatio kit set with a epc610 TOF Imager chip

–epc610 Camera Module V1.0

–epc600/610 Evaluatio Kit Mai board

Part number Order information Description

Accessories P100 113 epc600 Camera Spot Camera module with a epc600 TOF Ra ge Fi der chip

with 1.4° x 1.4° optical aperture a gle, i cludi g cable

P100 223 epc610 Camera Module V1.0 Camera module with a epc610 TOF Imager chip

with 8.7° x 8.7° optical aperture a gle, i cludi g cable

Table 1: Order i formatio overview

1.2. Scope of delivery

No Pieces Designation Kit Camera

➀1 epc610 Camera Module V1.0 Yes Yes

➁1 Cable to co ect the camera with the mai board Yes Yes

➂1 epc600/610 Evaluatio Kit mai board Yes

➃1 USB type 2 cable to co ect the mai board to a computer Yes

➄1 CD-ROM with applicatio software + docume tatio s Yes Yes

1 Ma ual epc610 Camera Module V1.0; o CD-ROM; Yes Yes

1 Ma ual epc600/610 Evaluatio Kit; o CD-ROM; Yes

Figure 5: Material of the complete kit

Characteristics subject to cha ge without otice

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1.3. System requirements for host computer

Description Personal computer system

Computer IBM PC or compatible Apple (Mac)

Operati g system, mi imum Wi dows XP or higher Mac OS X 10.7 (Lio ) or higher

Graphics resolutio , mi imum 1024 x 768 pixel 1024 x 768 pixel

Hard-disk free space mi . 50MByte mi . 50MByte

CD-ROM drive yes yes

USB co ectio mi . USB 2.0 full speed mi . USB 2.0 full speed

Table 2: System requireme ts for the host computer

1.4. System requirements for the Evaluation Kit mainboard

The epc610 Camera Module 1.0 works i combi atio with the followi g Evaluatio Kit mai boards:

■epc600/610 Evaluatio Kit mai board V1.2 or higher

■Evaluatio Kit mai board V2.0 or higher

1.5. Technical data epc610 Camera Module V1.0

Description Data emarks

Type epc610 Camera Module V1.0

Se sor chip epc610; 8x8 pixel

Supply voltage +8.0V … +9.0V DC

+5.0V ±5%

typ. 25mA

max. 420mA

Power co sumptio max. 2.4W

Commu icatio SPI i terface (4-wire), max. 10Mbit/s max. cable le gth: 0.5m

Receiver: focal le gth f02.1 mm

Receiver: f-stop 2.2

Operati g wavele gth (accordi g label) 860 m ±65 m ( ear i frared) Cautio :

This is a IR emitti g system !

Optical output power 1 W peak

Optical modulatio freque cy 10 MHz, pulsed operatio

Operati g ra ge 0 – 300 cm @ remissio = 80% @ varyi g i tegratio times

Dime sio s (le gth x width x hight) 70 x 54 x 505mm

Temperature ra ge; Humidity 0° … 45°C; 20% … 80% RH

CE certificate The Evaluatio Kit is desig ed as a module level

device. Therefore it is ot a CE certified device. It

is the users respo sibility to operate the hardware

i complia ce with the CE regulatio s.

RoHS Fulfills 2002/95/EC

Table 3: Tech ical data epc610 Camera Module V1.0

1.6. Support and technical contact

If you eed more i formatio , please co tact us at i [email protected].

Characteristics subject to cha ge without otice

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2. Hardware

The purpose of this sectio is to i troduce to the user the epc610 camera module a d the fu ctio al use of the epc600/610 Evaluatio Kit.

2.1. Block diagram

The system co sists of 3 mai parts: A perso al computer, the Evaluatio Kit mai board a d a camera module (refer to Figure 6).

Data

memory

Program

memory

USB

i terface

2-wire / SPI

i terface

I/O

i terface

Main-microprocessor

I put switches

Mai sig ali g

Power

supply

epc600 / epc610 evaluation system

epc600 application with PIC10F *

1-butto i terface

Microprocessor PIC10F206

ICSP co ector

2-wire

i terface

I/O

i terface

Data

memory

Program

memory

Debug co ector

Mainboard

Computer

Co figuratio -

& data files

Applicatio Software

Huma i terface

GUI

USB

i terface

Personal computer

USB

i terface

Camera

Co fig setti g

Optics

(optical path)

epc6xx

i operatio

Figure 6: Block diagram (* ot impleme ted)

The Perso al computer

■IBM compatible or Apple (Mac).

■Ma -machi e i terface for the operatio a d visualizatio of the evaluatio system.

■Ru s the applicatio software.

■Stores, reads a d writes co figuratio - a d data-files for the applicatio .

■Host system for ST ARM 32bit Cortex microprocessor software developme t.

The mai board

■Two sectio s with i depe de t microprocessor systems:

■The o e for the “epc600 / epc610 evaluatio system” (Evaluatio )

■The seco d is a mi imal hardware desig co cept for a Ra ge Fi der applicatio with the epc600 (Applicatio with PIC10F).

Not used for the epc610 camera applicatio .

■A mai switch selects which sectio will be co ected to the camera module.

■The mai board/system is co ected to the computer by a USB cable for data commu icatio a d power supply.

■The power supply ge erates all of the ecessary supply voltages from the USB co ectio . A additio al exter al USB power supply

ca be added if the PC USB i terface is ot capable of deliveri g the ecessary power (1'000 mA).

■The “epc600/epc610 evaluatio system” sectio supports a d gives access to the full fu ctio ality of the epc610 devices.

■Checks for the correct device ide tificatio of the camera.

■Co figures a d co trols the camera.

■Reads the picture data from the camera a d se ds it via USB to the computer.

■Provides co figuratio DIP switches a d sig ali g LEDs.

■A “debug co ector” allows adva ced users to dow load their ow applicatio . For more i formatio , refer to the ma ual of the

correspo di g processor.

The epc610 camera module

■Is a fully fu ctio al module with the epc610 TOF Imager chip a d optics combi ed.

■Co ects to the mai board for power supply, data commu icatio a d co figuratio readi g.

Goals a d objectives of this Evaluatio Kit:

■Easy-to-use, plug a d play demo strator to show how epc's TOF products work a d which possibilities they offer.

■Test kit for e gi eers, allowi g for a first co tact with epc's products.

■Refere ce desig kit for desig a d developme t e gi eers.

■Supports the user duri g developme t a d testi g of his ow hard- a d software.

Characteristics subject to cha ge without otice

6 / 26 Ma ual epc610_Camera - V1.5

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Exceptio s of this kit:

■The kit is a demo strator. It is ot desig ed for verificatio of datasheet parameters. Such tests eed a dedicated test e viro me t.

■Not desig ed for use i fi al applicatio s.

Characteristics subject to cha ge without otice

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2.2. Schematics

MOSI

VDDCORE

VDDT

VDDM

VREF

VDDBS

VDDIO

VDDPX

VDDHPX

VDD

VDDCP

LED

12 NC1 13

NC2 14

XTAL1 15

XTAL2 16

VDDPLL 17

MISO 18

SS 19

SCLK 20

GND 21

GNDA 22

GNDLED 23

GNDPLL 24

epc610

IC1

epc610

GND

8V5

MISO MOSI

SCLK SS

GND

18V_LED

MOSI

SCLK

MISO

4.000 MHz

GND

C7 18p

C9 18p

C12

100

GND

1 2

3 4

5 6

7 8

9 10

11 12

Milligrid 2x6

XT1

XT2

VIN

1VOUT 2

C+

3C- 4

GND 5

SHDN

IC3

LTC1983-5

-5V

C17

100

-5V

Imax = 0.9A

B340 40V 3A

0R1

FB 3

DR 6

Ise 1

AGND

COMP

PGND 5

FA/SD

IC4

IC LM3478

PMV45EN

+18V

600 R @ 100 MHz

100 F

C23

47uH

22k

R16

47k

4k7

15k

10uF

C22

10 F

C24

100R

22k

1 F

C20

10 F

C21

0R1

R18

0R1

R17

SFH4059

D10

SFH4059

D11

SFH4059

22R

R21

22R

R23

22R

R25

R22

4k7

R24

C5 1uF/50V

C1 1uF/50V

4.7uF

4.7uFC6

4.7uF

10uF

C25

D1A

BAT74

100 F

C10

C26

1uF/50V

R11

10uF

C19

10uF

C13

C27 1uF/50V

10 F

C11

10k

R15

GNDGND

220uF

C18

GND

220pF

C14

GND GND

J7 J8 J9

GND GND

J10

J6J5

Debug

GND

8V5

MISO

SCLK

MOSI

TEST

MODE

Header 3

RF1

470R

GND

DF1

BZX84-C5V6

8V5

Figure 7: Schematic epc610 module

Characteristics subject to cha ge without otice

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2.3. Assembly & part list

Figure 8: Camera board: Fro tside assembly Figure 9: Camera board: Backside assembly

Note: For pixel field orie tatio refer to chapter 5.1.4.: Pixel field orie tatio .

18 pF Capacitor C7, C9

220 pF Capacitor C14

1 F Capacitor C20

10 F Capacitor C11, C21, C24

100 F Capacitor C10, C12, C17,C23

1 μF Capacitor C1, C5, C26, C27

4.7 μF Capacitor C4, C6, C8

10 μF Capacitor C3, C13, C19, C22, C25

220 μF Capacitor C18

SFH4059 LED D4, D5, D6, D7, D8, D9, D10, D11

BAT74 Schottky double diode D1

B340 40V 3A Diode D3

PMV45EN Tra sistor T1

epc610 epc610 IC1

LTC1983-5 Voltage co vertor IC3

LM3478 Voltage regulator IC4

Header, 6-Pi , dual row J1

47 μH I ductor L1

600 R @ 100 MHz I ductor L3

0 Ohm Resistor R3, R11, R22

0.1 Ohm Resistor R4, R17, R18

22 Ohm Resistor R121, R23, R25

100 Ohm Resistor R8

4.7 kOhm Resistor R6, R24

10 kOhm Resistor R15

15 kOhm Resistor R7

22 kOhm Resistor R9, R16

47 kOhm Resistor R5

4.0 MHz Quartz crystal, SMT X1

Milligrid 2x6

Table 4: Camera board: part list

Characteristics subject to cha ge without otice

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2.4. Hardware of the camera

The electro ics of the camera module co tai s the epc610 chip, the bufferi g of the supply voltage, the crystal for the chip clock, 7 IR

emitter LEDs a d a co ector for the cable to the mai board. The board i corporates a le s holder with the receiver le s.

2.5. Camera connector J1

Pi s 11 a d 12 must be termi ated, but ot ecessarily i the camera module. If they are ot termi ated, the Evaluatio Kit reads back the

chip type i software a d termi ates them accordi g to the sig als MODE a d TEST.

For camera modules supplied by ESPROS photo ics, the pi assig me t is already do e for the correct operatio of the module i combi-

atio with the mai board.

For the correct sta dalo e operatio of the epc610 camera module, the sig als eed to be termi ated accordi g to the Table 5 a d the

datasheet epc610.

Pin Pin assignment

1 +5V

2 +5V

3 GND

4 +8.5V

5 SCLK

6 SDATA

7 GND

8 GND

9 MISO

10 MOSI

11 VDDM: Co ect to +5V

12 VDDT: Co ect to +5V

Table 5: Pi assig me t camera co ector J1

3. Evaluation Kit mainboard

For the tech ical descriptio of the Evaluatio Kit mai board, refer to “Ma ual – epc600/610 Evaluatio Kit – mai board”.

Characteristics subject to cha ge without otice

10 / 26 Ma ual epc610_Camera - V1.5

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