3D Camera　Torobo Eye Series

  • SL40 Camera Head

  • SL80 Camera Head

  • Camera Controller (for SL40/SL80)

Features (SL40/SL80)

Palm-size and light weight (about 500 g), which is useful to attach it on the tip of robotic arm

Measurement time of 180 ms (max), one of the fastest off-the-shelf industrial 3D cameras

Small depth error (0.06-0.1 mm standard deviation)

Coaxial image acquisition of color and depth images, which is suitable for AI applications

Since it has been calibrated at the factory, you can use it immediately after connecting to a PC.

It supports high dynamic range (HDR) measurement.

Easy to use with OpenCV, Open3D, and ROS (Robot Operating System)

 

Acquired data

  • Color image


    You can save the images as JPEG or PNG format.

  • Depth image


    You can save the images as OpenEXR or PNG format.

  • 3D point cloud (color image overlapped)


    You can save the images as PCD (PointCloudLibrary output format) or PLY (comman format for CAD).

  • 3D point cloud (depth image overlapped)


    You can save the images as PCD (PointCloudLibrary output format) or PLY (comman format for CAD).

 

Major applications

Autonomous robot

By attaching a Torobo Eye on the tip of a robot arm or the head of a dual-arm robot, a compact autonomous robot can be constructed for the applications such as bin picking and assembly. Especially, collaborative robots (which do not require safety fences) and mobile manipulators mounting a Torobo Eye can do those tasks anywhere in the field because any special devices don't need to be installed in the environment. This is a big advantage compared to a stationary-type 3D camera.

Machine vision

Since Torobo Eye uses a single camera to acquire both depth and color images, there is no misalignment between the two images, and highly accurate 3D color information can be obtained. Therefore, by combining with recognition technology that uses machine learning and/or image processing, Torobo Eye can be used for the applications such as visual inspection, shape measurement, and quality check. Its small size allows for a high degree of flexibility in installation, making it possible to build space-saving inspection and production lines.

 

High Dynamic Range (HDR) measurement

The High Dynamic Range (HDR) measurement allows you to capture images at multiple exposure times and integrate pixels with good depth quality from each exposure-time image. This makes it possible to measure metallic luster and black workpieces that are prone to missing depth in a single exposure.

 

Easy to use with ROS (Robot Operating System)

ROS package has been released for Torobo Eye. By using this, it is easy to use Torobo Eye with ROS.

ROS package

 

You can immediately implement recognition processing with OpenCV library and Open3D library

The Torobo Eye SDK (Python, C ++) includes installation scripts for the OpenCV and Open3D libraries, and you can immediately implement recognition processing using these libraries.

  • OpenCV (Library for computer vision)
  • Open3D (Library for handling 3d data)

 

Specifications

SL40 SL80 description
Measurement method Active Stereo (Structured Light) Algorithm based on a phase shifting method
Base color of projection pattern White, Red, Green, Blue Can be changed according to the color of target object
Resolution [pixel] 1440 x 1080
Depth error [mm] 0.06 0.10 SL40: Standard deviation of measurements at 450mm distance with high resolution mode
SL80: Standard deviation of measurements at 700mm distance with high resolution mode
Measurement time [msec] 150 In the case of one shot measurement with high speed mode
Measurement range (XY) [mm] 375 x 210 409 x 306 SL40: Valid XY range at 450mm distance
SL80: Valid XY range at 700mm distance
Measurement range (Z) [mm] 300 - 600 400 - 1200
(500 - 1000 recommended)		 Recommended range for depth direction
Supported OS Ubuntu 18.04 LTS, Ubuntu 20.04 LTS, Windows 10/11 OS on your PC that can connect to Torobo Eye
Software UI software, SDK (API library), ROS package API libraries support Python and C++.
Communication I/F Ethernet Gigabit Ethernet or better is necessary.
Power supply 24V DC
Power consumption (continuous) [W] 48 Total power consumption of camera head and controller on average while projecting and imaging continuously
Power consumption (idle) [W] 12 Total power consumption of camera head and controller in the idle state (no measurement)
Dimension [mm] Camera Head: W92 x H75.5 x D95
Camera Controller: W140 x H50 x D140		 Camera Head: W140 x H47 x D97
Camera Controller: W140 x H50 x D140		 The size of the connector and cable is not considered.
Weight [g] Camera Head: 460
Camera Controller: 854		 Camera Head: 500
Camera Controller: 854

 

Measurement Range

 

Connection

You can acquire the camera images by connecting a Torobo Eye to your own PC via Ethernet. The power supply unit (e.g. AC-DC power adapter) is not provided, so please prepare a power source such as a switching power supply and battery that generates 24V DC by yourself. It is also possible to input 24V directly to the camera head from a separate power supply.

 

Setup example

For industrial applications, Torobo Eye can be easily connected from your own software by using the provided SDK. Since Torobo Eye only outputs 3D data, you need to implement your own algorithms such as object recognition on your PC if necessary. The ROS package is also provided, so if you use a ROS-compatible robot, you can build a robot system more easily.

 

Case Study

Torobo Eye is used for Yamaha Motor's bolt picking system, which was exhibited at the 2022 International Robot Exhibition (iRex 2022).
The following points were highly evaluated:
- Sufficient detection accuracy for bolt picking (M3 size and up)
- Easy for operators to handle it due to its non-laser light source
- High cost performance

Basic Package (common for SL40/SL80)

 

Accessory