MiR Top camera. Intel RealSense TM Camera (R200) Technical Documentation

Transcription

1 MiR Top camera Intel RealSense TM Camera (R200) Technical Documentation Version 1.1 Release date:

2 Table of contents 1 Introduction What s included in the box? Mounting the top camera Preparation of MiR100 for retrofitted camera Mounting the top camera Connecting the top camera Setting up top camera in ROS parameters Frequently Asked Questions Changelog...9 Copyright Mobile Industrial Robots 2016 Page 2 of 9

3 1 Introduction The floor camera detects objects in a height of 50 cm (19.7 ) measured from the ground and up. The height of the MiR100 is 35 cm (13.8 ). If more than 15 cm (6 ) are added on top of the MiR100, a top camera is needed. The top camera is similar to the floor camera, which is an Intel RealSense TM 3D camera. 2 What s included in the box? (1) Intel RealSense TM Camera (R200) 1, w USB cable. (2) Metal sheet to fix camera in bracket. (3) Top camera bracket, bottom and top parts (screws, nuts and washers not included) Note! The camera serial number is found at the back of the bracket s bottom part. Write down the number before you start the mounting as you ll need it later to set up the camera in the software. 1 Copyright Mobile Industrial Robots 2016 Page 3 of 9

4 3 Mounting the top camera 3.1 Preparation of MiR100 for retrofitted camera If the top camera is going to be retrofitted on the MiR, the top panel must be prepared as shown in this illustration. Drill two holes Ø4.50 in shown positions. Dimensions shown in mm mm (4.17 ) -42 mm (1.65 ) Copyright Mobile Industrial Robots 2016 Page 4 of 9

5 3.2 Mounting the top camera Mount the top camera as described here: 1. Fasten the bottom part of the bracket in the two pre-drilled holes. Fasten screws at the back of the cover with nuts and washers. 2. Thread the USB cable through the bracket as shown. 3. Fit the camera in the bracket. Lead the cable around the screw to and pull it carefully from the back to hold it in place. Copyright Mobile Industrial Robots 2016 Page 5 of 9

6 4. Affix the metal sheet to the camera with the two small black screws. 5. Place the top part of the bracket as shown and fasten with two screws. 3.3 Connecting the top camera Place the robot s top panel with camera on the robot. Connect the camera to the USB socket as shown. Copyright Mobile Industrial Robots 2016 Page 6 of 9

7 3.4 Setting up top camera in ROS parameters Follow these steps to set up the top camera software. Ste p Instruction 1 Log in as administrative user. Illustration 2 Go to Service Configuration System settings ROS parameters 3 Find 3D Cameras under the ROS parameters. Tick off Start top camera automatical ly Enter the serial no. as written on the camera bracket. Click Save. 4 Restart the MiR100 by turning the power switch to OFF. Wait until the light of the MiR100 is off. Turn the power switch ON. The MiR100 is now ready to operate with the top camera. Note! The preset top camera parameters are valid when the camera is positioned directly on the top panel of the MiR100 as shown in this document. If the camera is mounted in a different position or on an external top module, the parameters must be adjusted accordingly. For assistance, contact MiR Customer support, Copyright Mobile Industrial Robots 2016 Page 7 of 9

8 4 Frequently Asked Questions Question: The 3D cameras are not active. Answer: The 3D cameras are active only when the MiR100 is driving in automatic mode. Set the MiR100 to drive in for example a ROUTE or TAXI. Check the launch menu under Service --> Configuration --> Launch Menu to see if the cameras are active. This example shows that both cameras are running and active: Copyright Mobile Industrial Robots 2016 Page 8 of 9

9 5 Changelog Version Date Changes Document created ROS parameter screenshot in section 3.4 updated Copyright Mobile Industrial Robots 2016 Page 9 of 9