1. Scope of Application

Second, Debugging Resources

O3X100 Relevant dimensions and additional information can be downloaded and referenced from its official website:

Visit https://www.ifm.com/cn/zh/product/O3X100

Download address for ifmVisionAssistant debugging software:

https://static.seer-robotics.com/ifmVision.zip

3. Camera Installation and Wiring

Yi Fu Men O3X100

The connection method for the 3D camera is relatively straightforward. Power can be supplied through the 24V PDO, and the Ethernet cable of the 3D camera can be inserted into the controller switch.

Yi Fu Men O3X100 The camera has a working distance of 50~3000mm, a horizontal viewing angle of 60°, a vertical viewing angle of 45°, and an image data resolution of 224×172. The 3D camera's power ensures better measurement accuracy and response speed when the measurement distance is controlled within 2.5m. Therefore, it is necessary to design an appropriate installation height and angle.

As the Z-axis of the 3D camera is perpendicular to the imaging plane, the necessary installation height and angle can be determined using the following diagram:

Side view of 3D camera mount (black for 3D camera), β for vertical view of 3D camera

As illustrated in the above figure, the vertical angle of the 3D camera is β=45°. It is evident from the figure that the correlation between the installation height h of the 3D camera, the installation angle α, and the farthest observation distance FA is:

* * h = cos(180 - α + β/2) FA

FA is the maximum measurement distance, typically less than 3m (otherwise the 3D camera cannot detect the ground). Therefore, if the 3D camera is installed at an angle α of 120°, the maximum installation height h of the camera is 0.391m. The farthest detection distance in the horizontal direction is OA=2.9m (where AB is the actual detection range and OB is the blind area). If the installation height of the 3D camera h is 0.5m, then the installation angle α of the camera needs to be greater than 123.5° for point A to reach the ground. In summary, the higher the installation height h of the 3D camera, the greater the installation angle α needs to be in order to meet normal measurement requirements.

Note: The power cord of the 3D camera must correspond with the coordinate system of the robot. If the 3D camera is installed on the robot's head, the wiring harness of the 3D camera should align with the +y direction. If the 3D camera is installed at the robot's tail, the wiring harness of the 3D camera should align with the -y direction, as illustrated in the figure below:

Schematic diagram illustrating the relationship between the power cord of a 3D camera and the Y-axis of the robot's coordinate system

4. Parameter configuration and debugging of the camera

Before proceeding with any further operations, ensure that the Ethernet IP address of your PC is set to 192.168.192.xxx (where xxx is a number greater than 200, for example, 203) and the subnet mask is set to 255.255.255.0.

Use the Yi Fu Men configuration software to perform basic configurations on the 3D camera. Connect the Ethernet cable of the 3D camera to the network port of the PC and open the software interface, as shown in the following picture:

It is possible to set the software interface language to Chinese by accessing the Settings option. In order to maintain consistency throughout the document, the English software interface will be used in the following description. If you encounter an error message related to socket during configuration, please click "close" and ignore it.

4.1 Configuration Procedure

1. Click "Find Sensor":

If the firewall prompt appears, please check all the boxes and click Allow, as illustrated below:

Step 2: Once the Search completed message appears, the currently connected device and its corresponding IP address will be displayed. Double-click to access the 3D camera for basic configuration, as illustrated in the figure below:

When configuring the 3D camera for the first time, the software will display a message indicating that the 3D camera's subnet is different from that of the PC. In this situation, you can set the temporary IP address of the 3D camera to 192.168.192.30 and click on "Change device address," as shown in the following image:

3. Click on the Device setup option in the left toolbar on the 3D camera configuration screen to perform the necessary network configuration, as illustrated in the image below:

Set the IP address to 192.168.192.30, subnet mask to 255.255.255.0, and gateway to 192.168.192.1 using DHCP. Finally, click the Save button, as illustrated below:

4. Click on the left toolbar Application and select the Edit Application option, as shown below:

The Image Settings window will appear. Select the appropriate toolbar for the desired settings. Once the settings have been completed, click on the save icon located in the lower right corner.

"Trigger" is continuous.

"Image format" is set to upTo07m_low

"Exposure time" is 1500 microseconds

The target frame rate is 20 frames per second.

"Spatial filter" means no filtering.

The "Temporal filter" is not a filter.

5. Select all four options in the Interface settings and then click on the save icon located in the lower right corner.

Up to this point, the camera settings for O3X100 have been completed. You may click on the Exit icon located in the lower right corner to exit the configuration screen and close the configuration software.

4.2 Importing a Configuration File

For your convenience, you can import our configuration file directly and skip the above configuration steps. The configuration file is as follows:

deviceConfig_O3X1xx.o3x1xxcfg

The steps for importing are illustrated in the following three images: