EPC epc600 User manual

Manual – epc600 Camera Spot
Time-of-flight epc600 camera, 1 pixel, spot angle view
General Description
The epc600 Camera Spot is a fully assembled and tested T F
Range Finder camera to be used with the epc600/610 Evaluation
Kit.
The module includes an epc600 T F Range Finder chip, an active
IR LED illumination for the observation area, a complete lens sys-
tem and a cable interface to the mainboard. This allows for a flexi-
ble and convenient placement in a lab setup. The module has a
1.4° x 1.4° optical aperture angle.
In combination with the epc600/610 Evaluation Kit (which provides
all hardware to operate the epc600 Range Finder module), the
user has a fully functional T F evaluation system.
The included application software enables the user to explore the
T F Range Finder technology as well the epc600 Range Finder
chip.
Features
■Fully functional T F Range Finder camera with a 1 pixel epc600
imager chip.
■Comprehensive application software with a graphical user inter-
face to operate the epc600 chip in the camera module.
■Automatic mode to measure distances with adaptive integration
times.
■Manual mode to run the camera in an individual set-up or to ana -
lyze the raw data.
■Possibility to store and reload operating configurations.
■Functionality for logging measurement data on a PC.
Purpose
■Performance analysis of the epc600 chip in terms of speed, oper -
ating range and accuracy.
■Demonstration and evaluation of the hard- and software.
■Development environment for user specific epc600 chip applica -
tions.
Overview
200cm
50mm
50mm
99mm
Figure 1: Field of view of the camera Figure 2: The camera module
Receiver spot: 50 x 50 mm (1.4° x 1.4°)
Emitter spot: 99mm diameter ≙ □ 70 x 70mm
Figure 3: The evaluation system hardware Figure 4: Main dialog of the graphical user inter face
© 2014 ESPR S Photonics Corporation
Characteristics subject to change without notice
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 IMPORTA T I FORMATIO 
SAFETY ADVICE
DO OT LOOK DIRECTLY I TO THE CAMERA U DER OPERATIO !
Depending on the mode of operation, the camera device emits highly concentrated non-visible infrared light. It can be hazardous to the
human eye. The use of these devices has to follow the safety precautions given in IEC 60825-1 and IEC62471.
THIS EVALUATI N KIT SH ULD NLY BE INSTALLED AND USED BY AUTH RIZED AND FULLY TRAINED PE PLE. ALL IN-
STRUCTI NS IN THIS MANUAL AND IN THE RELATED D CUMENTS HAVE T BE F LL WED AND FULLY C MPLIED WITH. IN
ADDITI N, THE INSTALLER AND USER IS REQUIRED T C MPLY WITH ALL L CAL LAWS AND REGULATI NS. SH ULD ANY
F THESE INSTRUCTI NS N T BE CAREFULLY F LL WED, SERI USLY INJURY MAY CCUR. THE INSTALLER AND USER IS
FULLY RESP NSIBLE F R THE SAFE USE AND PERATI N F THE SYSTEM. IT IS THE S LE RESP NSIBILITY F THE IN -
STALLER AND THE USER T ENSURE THAT THIS PR DUCT IS USED ACC RDING T ALL APPLICABLE C DES AND STAN-
DARDS IN RDER T ENSURE SAFE PERATI N F THE WH LE APPLICATI N.
ANY ALTERATI N T THE DEVICES BY THE BUYER, INSTALLER R USER MAY RESULT IN UNSAFE PERATING C NDITI NS.
ESPR S photonics AG IS N T RESP NSIBLE F R ANY LIABILITY R WARRANTY CLAIM WHICH RESULTS FR M SUCH MANIP -
ULATI N.
THIS DEVICES MAY N T BE USED F R APPLICATI NS THER THAN THE EVALUATI N F THE DESIGNATED DEVICES.
THIS DEVICES MAY N T BE USED IN SAFETY APPLICATI NS, EXPL SIVE ATM SPHERES, R IN A RADI ACTIVE ENVIR N-
MENT.
 IMPORTA T I FORMATIO 
THIS CAMERA COMES WITH ITS OW CALIBRATED FIRMWARE.
For proper operation of the Evaluation Kit upload the correct firmware from the CD R M to the evaluation board.
Do this each time, when you are changing the camera head.
User interface:
Use the dialog “Firmware settings” Upload the binary file “epc60x_fw_xxx_sensor”
ALSO, MAKE SURE THAT YOU ALWAYS USE THE LATEST SOFTWARE VERSIO O YOUR MAC / PC.
USE THE APPROPRIATE I STALLER THAT IS ALSO O THE CD.
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Table of Contents
General Description............................................................................................................................................................................................1
Features............................................................................................................................................................................................................. 1
Purpose.............................................................................................................................................................................................................. 1
verview.............................................................................................................................................................................................................1
1. General overview of the epc600/610 Evaluation Kit .................................................................................................................................4
1.1. rdering information.............................................................................................................................................................................. 4
1.2. Scope of delivery................................................................................................................................................................................... 4
1.3. System requirements for host PC..........................................................................................................................................................5
1.4. Technical data epc600 Camera............................................................................................................................................................. 5
1.5. Support and technical contact............................................................................................................................................................... 5
2. Hardware.................................................................................................................................................................................................. 6
2.1. Block diagram........................................................................................................................................................................................ 6
2.2. Schematics............................................................................................................................................................................................ 8
2.3. Assembly & part list............................................................................................................................................................................... 9
2.4. Hardware of the camera........................................................................................................................................................................ 9
2.4.1. Camera connector J1......................................................................................................................................................................... 9
3. Evaluation Kit mainboard........................................................................................................................................................................10
4. Setup & installation................................................................................................................................................................................. 11
4.1. Software installation.............................................................................................................................................................................11
4.1.1. SW installation on PC....................................................................................................................................................................... 11
4.1.2. SW installation on Mac..................................................................................................................................................................... 12
4.2. Running the epc600 application.......................................................................................................................................................... 12
5. Software “epc600 evaluation system” and user interface ...................................................................................................................... 14
5.1. verview.............................................................................................................................................................................................. 14
5.1.1. User Interface verview................................................................................................................................................................... 14
5.1.2. Basic operation................................................................................................................................................................................. 15
5.1.3. Distance and Amplitude dialog......................................................................................................................................................... 16
5.1.4. Integration time and temperature dialog...........................................................................................................................................16
5.1.5. Distance range settings.................................................................................................................................................................... 17
5.1.6. Display refresh rate...........................................................................................................................................................................17
5.1.7. Firmware settings............................................................................................................................................................................. 17
5.1.8. Calibration settings........................................................................................................................................................................... 17
5.1.9. Application settings........................................................................................................................................................................... 18
5.1.10. Log dialog....................................................................................................................................................................................... 18
5.2. Additional technical info and definitions ...............................................................................................................................................19
6. Further Application notes........................................................................................................................................................................ 19
6.1. Illumination...........................................................................................................................................................................................19
6.2. Ambient-light & wavelength................................................................................................................................................................. 19
6.3. Noise reduction....................................................................................................................................................................................19
6.4. Temperature compensation................................................................................................................................................................. 20
6.5. Linearity correction.............................................................................................................................................................................. 20
6.6. Special phenomena............................................................................................................................................................................. 20
6.7. Motion blurring (Fast moving objects)................................................................................................................................................. 20
6.8. Transparent objects............................................................................................................................................................................. 20
6.9. Changing remission (reflectivity)......................................................................................................................................................... 20
6.10. Indirect light reflections...................................................................................................................................................................... 20
6.11. Convex surfaces................................................................................................................................................................................ 20
6.12. Highly reflective background objects.................................................................................................................................................20
6.13. Light scattering.................................................................................................................................................................................. 21
7. Maintenance and disposal......................................................................................................................................................................21
7.1. Maintenance........................................................................................................................................................................................ 21
7.2. Disposal............................................................................................................................................................................................... 21
8. Addendum...............................................................................................................................................................................................21
8.1. Related documents..............................................................................................................................................................................21
8.2. Links.....................................................................................................................................................................................................21
8.3. Licenses...............................................................................................................................................................................................21
IMP RTANT N TICE......................................................................................................................................................................................22
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1. General overview of the epc600/610 Evaluation Kit
The chapter gives an overview about the epc600/610 Evaluation Kits, their components and the technical data for this module.
1.1. Ordering information
Part number Order information Description
Kits P100 110 epc600 Evaluation Kit Spot Evaluation kit set with an epc600 T F Range Finder chip
–epc600 Camera Spot
–epc600/610 Evaluation Kit Mainboard
P100 227 epc610 Evaluation Kit Evaluation kit set with an epc610 T F Imager chip
–epc610 Camera Module V1.0
–epc600/610 Evaluation Kit Mainboard
Part number Order information Description
Accessories P100 113 epc600 Camera Spot Camera module with an epc600 T F Range Finder chip
with 1.4° x 1.4° optical aperture angle, including cable
P100 223 epc610 Camera Module V1.0 Camera module with an epc610 T F Imager chip
with 8.7° x 8.7° optical aperture angle, including cable
Table 1: rder information overview
1.2. Scope of delivery
o Pieces Designation Kit Camera
➀1 epc600 camera with snap-on holder Yes Yes
➁1 Cable to connect the camera with the mainboard Yes Yes
➂1 epc600/610 Evaluation Kit mainboard Yes
➃1 USB type 2 cable to connect the mainboard with a computer Yes
➄1 CD-R M with the application software + documentation Yes Yes
1 Manual epc600 Camera; on CD-R M Yes Yes
1 Manual epc600/610 Evaluation Kit; on CD-R M Yes
1
2
3
4
5
Figure 5: Material of the complete kit
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1.3. System requirements for host PC
Description Personal computer system
Computer IBM PC or compatible Apple (Mac)
perating system, minimum Windows XP or higher Mac S X 10.7 (Lion) or higher
Graphics resolution, minimum 1024 x 768 pixel 1024 x 768 pixel
Hard-disk free space min. 50MByte min. 50MByte
CD-R M drive yes yes
USB connection min. USB 2.0 full speed min. USB 2.0 full speed
Table 2: System requirements
1.4. Technical data epc600 Camera
Description Data Remarks
Type epc600 Camera Spot
Sensor chip epc600; 1 pixel
Supply voltage +8.0V … +9.0V DC
+5.0V ±5%
20mA
200mA
Power consumption 1.2W
Communication epc600: 2-wire interface, max. 1Mbit/s max. cable length: 0.5m
Receiver lens: Focal length 12.6mm
Receiver lens: Size 16 x16 mm (256 mm2)
perating wavelength (according label) 860nm ±65nm (near infrared) Caution: This is a IR emitting system !
ptical output power typ. 50 mW
ptical modulation frequency 10 MHz, pulsed operation
perating range 0 – 600 cm @ remission = 80% @ varying integration times
Dimensions (length x width x hight) 32 x 22 x 25mm
Temperature range; Humidity 0° … 45°C; 20% … 80% RH
CE certificate The Evaluation Kit is designed as a module level
device. Therefore it is not a CE certified device. It
is the users responsibility to operate the hardware
in compliance with the CE regulations.
RoHS Fulfills 2002/95/EC
Table 3: Technical data epc600 Camera
1.5. Support and technical contact
If you need more information, please contact us at [email protected].
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2. Hardware
The purpose of this section is to introduce to the user the epc600 camera module and the functional use of the epc600/610 Evaluation Kit.
2.1. Block diagram
The system consists of 3 main parts: A personal computer, the Evaluation Kit mainboard and a camera module (refer to Figure 6).
Data
memory
Program
memory
USB
interface
2-wire / SPI
interface
I/
interface
Main-microprocessor
Input switches
Main signaling
Power
supply
epc600 / epc610 evaluation system
epc600 standalone demonstration *
1-button interface
Microprocessor PIC10F206
ICSP connector
2-wire
interface
I/
interface
Data
memory
Program
memory
Debug connector
Mainboard
Computer
Configuration-
& data files
Application Software
Human interface
GUI
USB
interface
Personal computer
USB
interface
Camera
Config setting
ptics
(optical path)
epc6xx
in operation
Figure 6: Block diagram (* not implemented)
The Personal computer
■IBM compatible or Apple (Mac).
■Man-machine interface for the operation and visualization of the evaluation system.
■Runs the application software.
■Stores, reads and writes configuration- and data-files for the application.
■Host system for ST ARM 32bit Cortex microprocessor software development.
The mainboard
■Two sections with independent microprocessor systems:
□ The one for the “epc600 / epc610 evaluation system” (Evaluation)
□ The second is a minimal hardware design concept for a Range Finder application with the epc600 (Application with PIC10F).
■A main switch selects which section will be connected to the camera module.
■The mainboard/system is connected to the computer by a USB cable for data communication and power supply.
■The power supply generates all of the necessary supply voltages from the USB connection. An additional external USB power supply
can be added if the PC USB interface is not capable of delivering the necessary power ( ca. 200mA).
■The “epc600/epc610 evaluation system” section supports and gives access to the full functionality of the epc600 / epc610 devices.
□Checks for the correct device identification of the camera.
□Configures and controls the camera.
□Reads the picture data from the camera and sends it via USB to the computer.
□Provides configuration DIP switches and signaling LEDs.
□A “debug connector” allows advanced users to download their own application. For more information, refer to the manual of the corre -
sponding processor.
■The “epc600 standalone demonstration” section with a tiny microprocessor PIC10F206 is a fully functional range-finder concept.
□ This part is not yet supported. There is no functional firmware implemented.
The epc600 camera module
■Is a fully functional module with the epc600 T F Range Finder chip and optics combined.
■Connects to the mainboard for power supply, data communication and configuration reading.
Goals and objectives of this Evaluation Kit:
■Easy-to-use, plug and play demonstrator to show how epc's T F products work and which possibilities they offer.
■Test kit for engineers, allowing for a first contact with epc's products.
■Reference design kit for design and development engineers.
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■Supports the user during development and testing of his own hard- and software.
Exceptions of this kit:
■The kit is a demonstrator. It is not designed for verification of datasheet parameters. Such tests need a dedicated test environment.
■Not designed for use in final applications.
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2.2. Schematics
M SI
1
VDDC RE
2
TEST
3
M DE
4
VREF
5
VDDBS
6
VDDI
7
VDDPX
8
VDDHPX
9
VDD
10
VDDCP
11
LED
12 NC3 13
NC4 14
XTAL1 15 XTAL2 16
VDDPLL 17
MIS 18
SDATA 19
SCLK 20
GND 21
GNDA 22
GNDLED 23
GNDPLL 24
epc600
IC1 epc600
GND
GND
8V5
GND
8V5
MIS M SI SCLK SDATA
GND
5V_LED
M SI
SDATA SCLK MIS
X1 4.000 MHz
GND
GND
R1 0 R3 0
C7 18p
C9 18p
C1 1u C4 3u3
C10
C5 1uC6 3u3
C8 3u3
R6 27
R5 27 R4 27
R7 110 R8 1k2 R9 1k2
5V_LED
GNDGND
C12 100n
C13 10u
5V
5V 5V
GND
GND
12 3 4 56 7 8 9 10 11 12
J1 Milligrid 2x6
XT1 XT2
L1 100n
D1A BAT74
LED1 SFH4059 LED2 SFH4059
GND
R15 10k
VIN
1
C- 4
V UT 2
C+
3
SHDN
6GND 5
IC3
LTC1983-5
C20 10u C19 1u
R16 470
-5V
GND
Load resistor for -5V C17
100n
C18 1u
GND
-5V
C3 10u
100n
GNDGND
C21 10u
8V5
C11 1u
D2
BZX84-C5V6
8V5
Figure 7: Schematic camera epc600
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2.3. Assembly & part list
Figure 8: Camera board: Frontside assembly Figure 9: Camera board: Backside assembly
C1, C5, C11, C18, C19 1 μF Capacitor
C4, C6, C8 3.3 μF Capacitor
C7, C9 18 pF Capacitor
C10, C12, C17 100 nF Capacitor
C3, C13, C20, C21 10 μF Capacitor
D1 BAT74 Schottky double diode
D2 BZX84-C5V6 Zener diode
IC1 epc600 epc600 sensor chip
IC3 LTC1983-5 Regulated charge pump
J1 Header, 6-Pin, dual row
L1 100 nH Inductor
LED1, LED2 SFH4059
R1, R3 0 hm Resistor
R4, R5, R6 27 hm Resistor
R7 110 hm Resistor
R8, R9 1.2 k hm Resistor
R15 10 k hm Resistor
R16 470 hm Resistor
X1 4.0 MHz Quartz Crystal, SMT
Milligrid 2x6
sram IR LED
Table 4: Camera board: part list
2.4. Hardware of the camera
The electronics of the camera module contains the epc600 chip, the buffering of the supply voltage, the crystal for the chip clock, two IR
emitter LEDs and a connector for the cable to the mainboard. The housing incorporates the emitter and receiver lenses. It minimizes opti -
cal crosstalk.
2.4.1. Camera connector J1
Pins 9, 10, 11 and 12 must be terminated, but not necessarily in the camera module. If they are not terminated, the Evaluation Kit reads
back the chip type in software and terminates them according to the signals M DE and TEST.
For camera modules supplied by ESPR S photonics, the pin assignment is already done for the correct operation of the module in combi-
nation with the mainboard.
For the correct standalone operation of the epc600 camera module, the signals need to be terminated according to the Table 5 and the
datasheet epc600.
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Pin Pin assignment
1 +5V
2 +5V
3 GND
4 +8.5V
5 SCLK
6 SDATA
7 GND
8 GND
9 NC1: Do not connect
10 HLLED/NC”: Connect with a 1k hm resistor to GND
11 GNDM: Connect to GND
12 VDDT: Connect to +5V
Table 5: Pin assignment camera connector J1
3. Evaluation Kit mainboard
For the technical description of the Evaluation Kit mainboard, refer to “Manual – epc600/610 Evaluation Kit – mainboard”.
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4. Setup & installation
4.1. Software installation
The enclosed CD contains all necessary application files and drivers to install and run the evaluation system on your computer.
4.1.1. SW installation on PC
System requirements (refer also to Table 2): PC with Windows XP or higher
Before you start the installation process, close all running applications.
Figure 10: PC installation files
Start the installation by executing the installer “epc60x-evalkit-install.exe”.The installer routine will load the application software as well as
the necessary drivers on your system.
After completion of the software installation, connect the evaluation kit through the connector J6 USP FS to your PC with the enclosed
USB cable. Make sure that the power supply selection switch on the evaluation kit is switched to “USB” (Figure 11).
The PC will detect the new hardware and start the Windows hardware installation assistant. Choose the default option “Install software au-
tomatically” to complete the installation.
Start the application with the link “epc60x Evaluation Kit” that has been added to your program shortcut menu.
Disconnect the USB cable before attaching a camera module and proceed with chapter 4.2. Running the epc600 application .
Figure 11: PC USB power supply setting
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PC USB
Power Supply
Switch to
“USB”

4.1.2. SW installation on Mac
System requirements (refer also to Table 2): Mac S X 10.6 or higher
Before you start the installation process, close all running applications.
Copy the installer file “epc600 epc610 Evaluation Kit Install_Vx.x.pkg” from the CD to the desktop. Start the installation by executing the in -
staller “epc600 epc610 Evaluation Kit Install_Vx.x.pkg”. The installer routine will load the application software as well as the necessary
drivers on your system. Delete the installer file after successful installation.
Figure 12: Mac installation files on CD
After completion of the software installation, connect the evaluation kit through the connector J6 USP FS to your PC with the enclosed
USB cable. Make sure that the power supply selection switch on the evaluation kit is switched to “USB” (Figure 11).
Start the application with the link “epc60x app” that has been added to your program folder.
Disconnect the USB cable before attaching a camera module and proceed with chapter 4.2. Running the epc600 application .
Notice for Mac users:
The USB Mac driver can hang-up due to insufficient current driving capability. In this case, connect an external supply for powering the
Evaluation Board.
4.2. Running the epc600 application
This mode is the actual developer mode which gives access to the full functionality of the epc600 camera module.
It requires a host PC that has the application software installed and running. Check if the application software is installed correctly on the
personal computer according to chapter 4.1.: Software installation. The software release must be the one delivered with the camera or
higher.
Connect the camera module to the mainboard.
Set the operation switch SW2 to “Evaluation”. (See Figure 13). This will set the evaluation system into the epc600 evaluation mode and al-
lows for the operation through the application software on the computer.
Caution:
The board must be in the unpowered state when the camera is connected to the mainboard and switch SW2 is changed!
therwise the board or camera may be damaged.
Connect the camera module to the cable and the other side of the cable to the mainboard.
Remark:
EACH CAMERA COMES WITH ITS OW CALIBRATED FIRMWARE.
After a change of the camera, the upload of the corresponding firmware is necessary to operate it correctly.
The firmware is on the CD enclosed in the camera package. Refer to chapter 5.1.7. Firmware settings.
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Set the operation switch SW2 to “Evaluation”. (See Figure 13). This will set the evaluation system into the epc600 evaluation mode and al-
lows for the operation through the application software on the computer.
Connect with the USB cable the computer to the Evaluation Board. The board is now powered up by USB.
Figure 13: Hooking up USB power and camera module
n power up, the system loads the microprocessor software and checks which type of camera module is connected. The system config-
ures itself automatically according to the connected camera module.
Start the application software on your computer and press the “Connect” button on your main screen to connect the application software to
the evaluation system.
Press the button “Start” to start the evaluation software.
Refer to the next chapter “5. Software “epc600 evaluation system” and user interface “ for detailed operating instructions.
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Camera
connector
Switch needs
to be set to
“Evaluation”
PC USB
Power Supply

5. Software “epc600 evaluation system” and user interface
5.1. Overview
This chapter describes the epc600/610 Evaluation Kit software (SW) and graphical user interface (GUI). The user interface is designed as
a dialog based application. The software operates the epc600 camera module, reads the data delivered by the module and allows for data
logging.
The one-pixel epc600 sensor with the 2-wire interface works as a TOF Range Finder.
5.1.1. User Interface Overview
Figure 14 shows the snapshot of the user interface. All the windows are identical both for Mac and PC. Table 6 provides a brief description
of the different user interface elements.
Figure 14: User Interface epc600 application software
Area Description
Logo area epc logo, a double-click opens the “About” dialog”
Main button group Buttons for the basic handling of the system:
Connect / Disconnect Connects / disconnects the application to / from the Evaluation Kit hardware. Always use this first before you
start any other operation.
Start / Stop Starts or stops the data acquisition. Use after the Evaluation Kit hardware has been connected.
Exit Quits the application.
Log Data logging for offline analysis.
A dialog window allows the selection of log data and file type.
App. Type Shows the type of the connected head.
System info This group shows the camera system type and the status of the system with a LED symbol:
Type Shows the type of the connected camera system (epc600 or epc610). This information is read from the con -
nected camera module.
Status Signals the status of the connected camera system with a LED symbol:
● grey The system is not connected yet.
● green The system is connected. No warnings or errors are discovered.
● red The system has entered an error state.
The root-cause of the error is shown in a pop-up box.
Table 6: Functionality of the basic application layout
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Area Description
Distance & Amplitude
dialog
Shows the measured distance and amplitude. Real time values as well as statistical figures are displayed.
Integration time dialog The dialog holds the switch that allows for either the setting of the the integration time manually or to have the
internal algorithm automatically set the integration time. The respective value for the integration time is dis -
played.
This dialog also holds the display fields for the temperature and DC light. This data, like the distance and am -
plitude values, is delivered from the T F chip
Button With this button, the visibility of extended user interface elements can be toggled:
Distance range settings Used to set a fixed position offset and measurement range limit.
Display refresh rate Settings for the refresh rate on the display.
Firmware settings Upload of new or corresponding firmware versions for the camera to the Evaluation Kit hardware.
Calibration settings Displays chip ID and additional distance offset.
Application settings Save and load user interface settings.
Table 6 cont: Functionality of the basic application layout
5.1.2. Basic operation
Before any measurements can be taken, the data link between the camera head and the mainboard needs to be established by pressing
the “Connect” button. If the camera head is detected, the status indicator LED in the “System Info” section will be green and the type of
camera head is displayed in this section. The actual measurement can now be started with the “Start” button.
The measurement runs continuously and the values will be displayed in real-time. For offline data processing, there is a logging option
available. The “Log...” button will open a dialog window that allows setting of specific logging options and to start the logging.
Note:
If the following pop-up window appears after “Connect”:
Figure 15: FW boot-up
Reason:
You are using a 1st series camera module with a V1.2 or V2.0 mainboard. The USB power supply is not compatible
Solution:
Use an external 1'000mA USB supply. Connect it to the appropriate plug on the mainboard and switch to „Ext.“ power supply. After pow -
er-up press the reset button on the mainboard.
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5.1.3. Distance and Amplitude dialog
This dialog shows the main measurement data fields as numeric values as well as range bars in the lower part. The “Current” fields on top
will display the values as real time values with a refresh rate that can be set in the user interface area “Display refresh rate”.
Figure 16: Distance and Amplitude dialog
As additional information to the user, the dialog displays statistical values calculated on the last 100 measurement data points:
•Min: Minimal value within the last 100 data points
•Max: Maximum value within the last 100 data points
•Average: Moving average for the last 100 data points
•σ: ne sigma standard deviation for the last 100 data points
The firmware of the camera contains basic calibration and correction algorithms for the distance calculation:
Distance, Reflectivity, Ambient-light and Temperature Compensation as described in the epc600 datasheet. They are calculated by the Arm
processor on the Evaluation Kit mainboard.
The measured distances have the following different reliabilities:
■Between 1 and 7 meter: The compensation is optimal.
■From 1 meter to 3.5 meters: The compensation are valuable for a target reflectivity from 90% down to 5%.
■From 3.5 meters to 7 meters: The target reflectivity goes from 90% down to 20%.
■For distances smaller than 1 meter or bigger than 7meters: The measured values are not anymore reliable.
The Quality LED indicator is not in use.
5.1.4. Integration time and temperature dialog
When set to automatic mode, the ec600 camera selects always the most reliable result out of an exposure sequence with the integration
times 1.6μs / 12.5μs / 205μs. The integration time corresponding to the selected values is displayed in real time and is continuously adjust -
ed to get the optimal measurement result. Refer to the epc600 datasheet for more information on integration time and how to adjust it.
Figure 17: Integration time and Temperature dialog
For some test setups, it may be useful to set the integration time manually. This can easily be done by typing the desired time in the value
window and pressing “set”. The integration time will remain at this value until manually changed again.
The temperature and DC light values (ambient-light values) are also continuously read from the epc600 chip and displayed as uncalibrated
data. These values are used for compensation of the distance data as explained in chapter 5.1.8: Calibration settings. An actual user appli-
cation may require different read rates of these values.
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5.1.5. Distance range settings
The settings here affect only the user interface and do not have any influence on the epc600 chip. They are intended to set a fixed offset
value and “zoom” in on an operational point. The “zoom” effect will become visible on the range bar of the distance and amplitude dialog.
Figure 18: Integration time and temperature dialog
5.1.6. Display refresh rate
Just like the distance rate settings in the chapter before, the display refresh rate setting only affects the user interface on the host comput -
er. However, for informational purposes, the approximative data refresh rate is displayed as well. This provides information on the actual
“frame rate” delivered by the chip (FW). Naturally, this value will strongly depend on the integration time.
Figure 19: Display refresh rate dialog
5.1.7. Firmware settings
Figure 20: Firmware settings
The Evaluation Kit requires firmware that runs on the ARM controller. This firmware configures the chip, performs the measurements, cal -
culates the result values, interfaces to the PC software and much more. As the development around the epc T F devices is ongoing, there
will be regular updates of this software. By using the “Upload Firmware” button, it is possible to flash such updated versions on the Evalua-
tion Kit.
Remark:
After a change of the camera, the upload of the corresponding firmware is necessary to operate it correctly.
Each camera has its own calibration parameters.
The firmware is on the CD enclosed in the camera package.
5.1.8. Calibration settings
Figure 21: Calibration settings
Similar to 2D imagers, 3D T F performance can be increased by calibration. While 2D imagers basically only require calibration for fixed
pattern noise and temperature, there are several influencing factors on the 3D T F performance.
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These factors are:
•Fixed pattern noise
•Ambient-light (DC light)
•Temperature
•Target reflectivity
The epc T F devices are designed to suppress ambient-light and to compensate for different target reactivities internally. For many appli -
cations, the chip performance will be sufficient in these aspects. However, an additional external calibration will always improve accuracy.
Due to the extremely short timeframes that are relevant for T F, there is an inherent temperature dependency that leads to a distance drift.
Therefore, the epc T F chips have integrated temperature sensors whose readings can be used to offset this effect. Fixed pattern noise
(FPN and AVG) does not apply for the epc600 since there is only one distance value.
In order to deliver optimal performance, each epc600 camera head is calibrated in the factory. These calibration values can be loaded to
the Evaluation Kit with the “Load data...” button. Do this every time the camera head is changed. The absolute distance reference can ad-
ditionally be fine-tuned with the “Dist off” setting (distance offset).
Note:
The specific calibration data file is provided by epc and is specific to the respective chip whose ID is displayed in the Calibration Settings
section.
5.1.9. Application settings
This dialogue allows the user, to save and reload user interface configurations. It simplifies the work with predefined user interface set-
tings.
Figure 22: Application settings
5.1.10. Log dialog
This function allows data logging for offline analysis of epc600 chip read-out data as well as corrected data. The data stream can be col-
lected either by number of measurement counts or by a logging time.
Figure 23: Log dialog
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5.2. Additional technical info and definitions
For the detailed technical description and specification of the epc600 chip, refer to the corresponding Datasheet epc600.
Below are some technical considerations to help better understand the working principles and boundary conditions:
Maximum AC input illumination power
This is the amount of the backscattered modulated light, that leads to a saturation of the signal processing path. The camera goes “blind”.
This value is also a function of the relative spectral sensitivity (e.g. refer in the datasheet to the table “Sensitivity and ambient-light sup -
pression vs. wavelength”).
Minimum AC input illumination power
This is the minimal amount of the backscattered modulated light to provide just enough signal. Below this level, the distance noise can in -
crease significantly. This value is also a function of the relative spectral sensitivity (e.g. refer in the datasheet to the table “Sensitivity and
ambient-light suppression vs. wavelength”).
Integration time
During this time, the sensor is sampling the light power. A longer integration time leads to a higher sensitivity of the camera. This means a
weaker illumination can be used. Use this to trade-off between achievable measurement range and illumination power.
Dynamic range at a fixed integration time
Is defined by the span between the maximum to minimum AC input illumination power limits.
Extended dynamic range
By an on-the-fly adaption of the integration time to the illumination conditions of the scenery, the dynamic range of the system can easily
expanded.
Unambiguity distance
epc T F devices are operated with a periodically (e.g sinusoidal) modulated illumination. The unambiguity distance is the distance that
corresponds to the traveled distance of light within one modulation period. Light signals inside this time window are can be allocated to a
unique distance. Reflected light with a longer travel time will cause false readings (because the sensor cannot distinguish between differ -
ent modulation periods).
Illumination of the scenery
Is the light actively brought into the observation area by the camera's modulated light signal.
Remission (more commonly nown as reflectivity)
The emitted light from the camera is backscattered by the object in the scenery. The surface conditions of this target define how much light
will be reflected. This loss of light power is defined by the remission factor (or reflectivity)
Examples: A sheet of white paper has a remission of 90%, whereas a dark carpet reflects only 5%.
Ambient-light suppression
In real world applications, there will always be ambient-light. The epc600 T F Range Finder is designed to filter out such ambient-light
from the received signal (ambient-light suppression). This internal filtering capability works so well that the systems even operates in highly
illuminated scenes such as outside applications in bright sunlight. However, there is a limit for this suppression. E.g. a measurement at -
tempted directly towards the sun will fail because of saturation.
The ambient-light suppression also depends on the relative spectral sensitivity (e.g. refer in the datasheet to the table “Sensitivity and am-
bient-light suppression vs. wavelength”).
Distance offset
There is always a distance offset that is made up by the sum of all delays in the signal chain of the chip. Like any other camera system,
T F systems need be offset-calibrated before they are put into use.
6. Further Application notes
6.1. Illumination
Good illumination is crucial, as is the design of the Rx and Tx lens system. epc provides several application notes on this topic. However,
an LED illumination subsystem and the matching Rx and Tx lens systems requires adequate experience.
6.2. Ambient-light & wavelength
Ambient-light is by nature a disturbing factor. There are several options to suppress such interferences in an application. ne solution is
the use of modulated light (which can easier be separated from typical static (DC) ambient-light). Another widely used approach to in -
crease the ratio of the signal to the ambient-light is to work with specific wavelengths. Sunlight and artificial light sources typically have low
infrared (IR) power. This is the reason why epc detectors have high sensitivities in the near infrared range (NIR). Sensor systems based on
epc detectors should therefore be designed to work in the NIR Range (e.g. 940nm).
6.3. oise reduction
The accuracy of the distance readings depends on the signal amplitude in the receiver path. The higher this amplitude, the more accurate
the results, the less distance noise occurs. The signal amplitude is equal to the product of the received light energy multiplied by the inte -
gration time. The adaptation of the integration time to the highest possible signal values (including a certain safety margin to avoid channel
saturation) leads to noise reduced measurement values.
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6.4. Temperature compensation
The energy of light emitting devices and the sensitivity of photo-electric sensors both have a certain temperature dependency. If such sys-
tems are working under conditions with widely varying temperatures, a compensation of the measurement data as a function of tempera -
ture is necessary. The epc600 has internal temperature sensors that can be used for such compensations. For more details, refer to the
datasheet of the chip.
6.5. Linearity correction
The actual light modulation signal differs from the theoretical waveform. Therefore, the distance readings typically have some relative er-
rors. The deviations depend on the distortion of the signal waveform by the hardware as well as on the signal amplitude in the receiver
path. Such non-linearities can be reduced by using a correction algorithm or look-up table as function of the distance and signal amplitude.
6.6. Special phenomena
Special phenomena can be created by time domain effects, reflections, surface behavior, etc. … Such phenomena mainly result from
changing conditions (illumination, reflectivity, fast movements..) during one measurement. Below are some examples.
6.7. Motion blurring (Fast moving objects)
To get correct distance results, an object should not move in any direction faster than the camera needs to catch the 4 corresponding sam-
ples for one distance calculation. Faster movement leads to unstable or erroneous readings for a measurement sequence. Figure 24
shows an object crossing though the observation beam. At sample 1, any reflected light is missing due to the fact that the object does not
touch the light beam. Sample 2 and 4 see a reduced signal, because not all the light is reflected by the object. In fact, after the distance
calculation, the result is not reliable and needs to be scrapped.
CAMERA
MOVI G OBJECT
EMITTED LIGHT
CAMERA
MOVI G OBJECT
REFLECTED LIGHT
CAMERA
MOVI G OBJECT
REFLECTED LIGHT
CAMERA
MOVI G OBJECT
REFLECTED LIGHT
TIME T1
SAMPLE 1
TIME T2
SAMPLE 2
TIME T3
SAMPLE 3
TIME T4
SAMPLE 4
Figure 24: Measurement cycle with moving object
6.8. Transparent objects
Transparent objects may distort the distance reading as they partially separate the illumination. Some of the light is reflected directly and
another part may be reflected from objects after passing through the transparent surface. Depending on the ratio of these parts, the dis -
tance result may be inaccurate. Keep in mind that visually opaque targets can be transparent for infrared light.
6.9. Changing remission (reflectivity)
The measurement assumes that during a measurement cycle, the object does not change its reflectivity. Physically, this corresponds to 4
correlation samples with equal amplitude. If the remission of the object is changing during the sampling sequence, the amplitudes will mis-
match and a distance error may occur.
6.10. Indirect light reflections
The measurement assumes that the emitted light is directly reflected back to the receiver. In real conditions, it may happen that the light
that comes back to the sensor returns by multi-point reflections (e.g. by mirroring objects in the background). The camera cannot distin-
guish between direct or indirect reflected light. Depending on the magnitude of such indirect reflections, such cases may lead to incorrect
distance readings.
6.11. Convex surfaces
If light is reflected from convex surfaces (e.g. a round pillar), the reflection magnitude strongly depends on the surface angle. At steeper
angles the reflected light is attenuated more .Therefore, such objects look smaller than they actually are.
6.12. Highly reflective background objects
Highly reflective objects in the background of a scene may mask an object in the foreground. While being farther away than the actual ob-
ject of interest, they may return a higher amplitude signal due to their higher reflectivity. ne option to tackle such situations is the reduc-
tion of the illumination power.
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