3D Camera Torobo Eye 「SL40」

  • Camera Head

  • Camera Controller

Features of SL40

The camera is palm-size and light weight (460 g), which is useful to attach it on the tip of robotic arm.

Frame rate of 10 fps, one of the fastest off-the-shelf industrial 3D cameras in the world

Small depth error (0.06 mm standard deviation)

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

 

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 the SL40 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 SL40 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 the SL40 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, the SL40 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.

 

仕様

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 Standard deviation of measurements at 450mm distance with high resolution mode
Frame rate [fps] 10 Average at continuous measurement mode
Measurement time [msec] 150 In the case of one shot measurement with high speed mode
Measurement range (XY) [mm] 370 x 210 Valid XY range at 450mm distance
Measurement range (Z) [mm] 450 ±150 Recommended range for depth direction
Supported OS Ubuntu OS of your PC that can connect to the SL40
Software UI software, SDK (API library), ROS package API library can be used in Python.
Communication I/F Ethernet More than Gigabit Ethernet 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
The size of the connector and cable is not considered.
Weight [g] Camera Head: 460
Camera Controller: 854

 

Connection

You can acquire the camera images by connecting SL40 to your own PC via Ethernet. As for the power supply, an AC-DC power adapter is provided for inputting 24V DC power, but you may use a switching power supply, etc., as long as it can generate 24V DC. It is also possible to input 24V directly to the camera head from a separate power supply.

 

Setup example

Industrial systems such as production lines and assembly cells can easily connect to the SL40 from their software by using the provided SDK. Since the SL40 only outputs 3D data, you need to implement object recognition algorithms on your PC (Ubuntu). We also offer a ROS package. The ROS package makes it easier to build an autonomous robot system for your research purpose if your robot is ROS-compatible.

 

Basic Package

 

Accessory