SICK IVP Ruler E Manuale utente

REFERENCE MANUAL

Ruler E

Reference Manual

Please read the complete manual before attempting to operate your Ruler.

WARNING

%Laser radiation

$Avoid direct exposure to the beam

$Avoid direct eye exposure

The Ruler is a laser product and operation using procedures other than those specified

herein may result in hazardous radiation exposure.

Do not open the Ruler

The Ruler unit should not be opened, the Ruler contains no user serviceable parts inside.

Opening the ruler unit may result in hazardous radiation exposure.

Turn off the laser power to the Ruler before maintenance

The power to the laser in the Ruler must be turned off before any maintenance is per-

formed. Failure to turn this power off when maintaining the unit may result in hazardous

adiation exposure.r

Please read and follow ALL Warning statements throughout this manual.

Windows and Visual Studio are registered trademarks of Microsoft Corporation.

All other mentioned trademarks or registered trademarks are the trademarks or registered trademarks of their

respective owner.

Subject to change without prior notice.

Reference Manual

Ruler E

Contents

1Overview......................................................................................................................................... 5

1.1 Configuration Using Ranger Studio......................................................................................... 7

1.2 Measurement Methods........................................................................................................... 8

1.2.1 Range Resolution....................................................................................................... 9

1.2.2 Performance............................................................................................................. 10

1.3 Developing Applications ........................................................................................................11

1.4 Triggering ...............................................................................................................................12

2Laser Safety .................................................................................................................................13

2.1 Laser Safety Classification .................................................................................................... 13

2.1.1 Classification............................................................................................................ 13

2.2 Installation Considerations ...................................................................................................14

3Configuring the Ruler..................................................................................................................15

3.1 Configuration Hierarchy.........................................................................................................18

3.2 Ethernet Configuration ..........................................................................................................18

3.3 System Configuration ............................................................................................................18

3.4 Image Configuration ..............................................................................................................19

3.5 Measurement Configuration .................................................................................................20

3.6 Measurement Components ..................................................................................................21

3.6.1 Horizontal Threshold (HorThr) .................................................................................22

3.6.2 Horizontal Max (HorMax) .........................................................................................24

3.6.3 Horizontal Max and Threshold (HorMaxThr) ...........................................................25

3.6.4 Hi-res 3D (Hi3D) .......................................................................................................26

3.7 Details on 3D Profiling Algorithms ........................................................................................27

4Ranger Studio..............................................................................................................................31

4.1 Ranger Studio Main Window................................................................................................. 31

4.2 Visualization Windows...........................................................................................................32

4.2.1 Zoom in Visualization Windows...............................................................................33

4.3 Parameter Editor ...................................................................................................................34

4.4 Using Ranger Studio ..............................................................................................................35

4.4.1 Connect and Get an Image...................................................................................... 35

4.4.2 Adjust Exposure Time ..............................................................................................35

4.4.3 Set Region-of-Interest ..............................................................................................36

4.4.4 Collection of 3D Data............................................................................................... 37

4.4.5 Getting a Complete Object In One Image ...............................................................38

4.4.6 Save Visualization Windows ....................................................................................38

4.4.7 Save and Load 3D Data...........................................................................................39

5Ruler API ......................................................................................................................................40

5.1 Connecting to the Camera ....................................................................................................40

5.2 Retrieving Measurement Data.............................................................................................. 41

5.3 Changing Camera Configuration...........................................................................................44

5.4 Transforming Measurement Values .....................................................................................44

5.5 Field-of-View...........................................................................................................................46

5.6 Rectifying Measurement Values ...........................................................................................47

Reference Manual

Ruler E

Contents

6Examples ..................................................................................................................................... 48

6.1 ruler_ex.....................................................................................................................................48

6.2 RulerNetConsoleExample......................................................................................................50

7Hardware Description .................................................................................................................52

7.1 Measurement Set Up ............................................................................................................ 52

7.2 Electrical Connections........................................................................................................... 54

7.3 Technical Data ....................................................................................................................... 56

7.4 Dimensional Drawings...........................................................................................................57

Appendix ............................................................................................................................................58

ARuler E Models and Type Codes ...........................................................................................58

BRecommended Network Cards ............................................................................................. 59

CRecommended Switches....................................................................................................... 60

DiCon Device Configuration.....................................................................................................60

EEncoder Wire Diagram...........................................................................................................61

FLaser Safety Box .................................................................................................................... 64

Reference Manual Chapter 1

Ruler E

Overview

1Overview

The Ruler measures the shape of object by using laser triangulation, which means that it

analyzes images of the object as it passes under a laser line. Each image shows the laser

as a cross-section of the object viewed from an angle. Since the optics in the camera is

mounted at a fixed distance and angle from the laser, the height of each point of the

cross-section can be calculated by detecting the laser in the image.

Depending on the model of the Ruler, it can make two or three different types of meas-

urements:

Range Measures the height of the object along the laser line.

Intensity Measures the amount of light that is reflected by the object along the

laser line.

Scatter Measures how the incoming laser light is distributed beneath the surface

of the object. This is useful for example for finding the orientation of fibers

in wood. (Only available for Ruler with the scatter option.)

Figure 1.1 – Measuring a cross-section of an object in 3D

Profile

Chapter 1Reference Manual

Ruler E

Overview

The result from measuring one cross-section of the object – the measurement data – is

collected into a profile. These profiles are sent to a computer connected to the camera

through an Ethernet network. The computer runs a custom application that takes care of

the profiles from the camera. This application can for example analyze the data to find

defects in the objects and control a lever that pushes faulty objects to the side.

Before the Ruler can be put into production you must write such an application. It is devel-

oped in for example Microsoft Visual Studio, using one of the APIs delivered with the

software for the camera.

Figure 1.2 – Profiles are sent from the Ruler to a PC, where they are analyzed by a custom

application.

Note that the output from the camera is not actual images of the object, but a set of

height, intensity or scatter values – one value for each point along the cross section of the

object. If desired, these measurements can be visualized as a profile plot showing the

shape of the cross section, or – by combining several profiles – as a complete 3D image of

the object.

Reference Manual Chapter 1

Ruler E

Overview

1.1 Configuration Using Ranger Studio

Before the data from the Ruler can be used in an application, the Ruler should be config-

ured to deliver profiles with sufficient quality and speed. This is usually done by setting up

the camera in a production-like environment and evaluating different measurement meth-

ods and parameter settings until the result is satisfactory.

The Ranger Studio application that is delivered with the Ruler can be used for evaluating

different set-ups of the camera. With Ranger Studio, you can change the settings for the

camera and instantly see how the changes affects the measurement result from the Ruler.

Once the Ruler has been set up to deliver measurement data that meets the require-

ments, the settings can be saved in a parameter file from the Ranger Studio. This parame-

ter file is later used when connecting to the Ruler from the application to be developed.

Figure 1.3 – Configuring the Ruler with Ranger Studio.

Chapter 1Reference Manual

Ruler E

Overview

1.2 Measurement Methods

When configuring the Ruler for measurement, you can choose any of the camera’s built-in

measurement methods – or components:

HorThr Horizontal threshold, a fast method for measuring range values using one

or two thresholds.

HorMax Horizontal max, measures the maximum intensity of the laser, and de-

termines the position of the maximum intensity.

HorMaxThr Horizontal max and threshold, measures range values using one thresh-

old, and measures the maximum intensity of the laser.

Hi3D High-resolution 3D, measures range values with high resolution, as well

as the maximum intensity. Can also measure scatter when used with a

Ruler with Scatter option.

Figure 1.4 – Threshold locates the laser in each column of the sensor image by searching

for intensities above a certain level, while Max searches for the maximum intensity in each

column.

Which component to use is of course depending on what to measure – range, intensity or

scatter – but also on the required speed and resolution of the measurements, as well as

the characteristics of the objects to measure and the conditions in the environment.

For each measurement method, there are a number of parameters that can be changed

for further fine-tuning the quality and performance of the measurements. These parame-

ters specifies for example exposure time and in which area of the image to search for the

laser line.

Columns

Rows

Projected

laser line

Sensor image

Columns

Columns Threshold

Max

Rows

Intensity

HorThr HorMax

Reference Manual Chapter 1

Ruler E

Overview

1.2.1 Range Resolution

When measuring heights, the resolution depends on which algorithm that is used when

detecting the laser line. For example the HorMaxThr method returns the location of the

line with 1/2 pixel resolution, while the Hi3D method has a resolution of 1/16th of a pixel.

Besides the measurement method, the actual measurement accuracy in millimeters

depends on the distance between the Ruler and the object. The further away the object,

the lower the accuracy.

This is because the object is viewed from a perspective, and therefore a pixel at the bot-

tom of the image shows a larger area of the object than pixels at the top of the image.

Therefore, one way of increasing the accuracy in the measurements is to move the Ruler

closer to the objects to measure.

Figure 1.5 – The laser line seen from a perspective, on the sensor, and the resulting

profile

Millimeters

iewed from

the Ruler

(world)

Millimeters

Columns

Rows

Sensor image

Range

(mm)

Resulting

Profile

Width

(

)

Chapter 1Reference Manual

Ruler E

Overview

1.2.2 Performance

The performance of the Ruler – that is, the maximum number of profiles it can deliver

each second – depends on the chosen measurement method, but also on the size of the

sensor image in which to search for the profile. The larger the image, the longer it takes to

search.

Therefore, one way of increasing the performance of the Ruler is to use a smaller part of

the sensor.

Figure 1.6 – A small image may be faster to analyze than a high

Note that the maximum usable profile rate is usually limited by the characteristics of the

object’s surface and conditions in the environment.

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