Ocular Robotics RobotEye RE08 User manual

RobotEye RE08
3D Laser Scanning System
User Manual
Ocular Robotics Ltd.
Unit F1, 13-15 Forrester Street
Kingsgrove NSW 2208
Australia
www.ocularrobotics.com

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Revision Table
Copyright Notice and Disclaimer
Copyright 2015 Ocular Robotics Ltd (“Ocular Robotics”). All rights reserved.
No parts of this manual may be reproduced in any form without the express
written permission of Ocular Robotics.
Ocular Robotics makes no representations or warranties in relation to this User
Manual or the information and materials provided herein. Every precaution has
been taken in the preparation of this manual to include accurate and up to date
information. Ocular Robotics does not warrant that the information in this User
Manual is complete, true, accurate or non-misleading. Information contained
herein are subject to change without notice.
Ocular Robotics assumes no responsibility for errors or omissions or any
damages resulting from the use of the information contained in this handbook.
Date
Notes
28/05/2015
Draft
17/09/2015
Initial Release
25/02/2016
Updated operation mode and metadata information

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Table of Contents
Revision Table................................................................................................................................................. ii
Table of Contents ..........................................................................................................................................iii
1 Introduction ................................................................................................................................................. 1
2 Basics............................................................................................................................................................... 2
2.1 System Components.......................................................................................................................... 2
2.2 What You Need.................................................................................................................................... 3
2.3 Handling and Transportation........................................................................................................ 3
2.4 Initial Setup........................................................................................................................................... 4
2.5 Safety....................................................................................................................................................... 5
2.5.1 Safety Features............................................................................................................................ 6
2.6 Cleaning and Maintenance.............................................................................................................. 7
2.6.1 Replacement Parts ..................................................................................................................... 7
3 General Description................................................................................................................................... 8
3.1 Electrical ................................................................................................................................................ 9
3.2 Power....................................................................................................................................................10
3.3 Mechanical ..........................................................................................................................................11
3.4 Ethernet ...............................................................................................................................................13
4 Measurement Accuracy..........................................................................................................................15
4.1 Angular.................................................................................................................................................15
4.2 Range.....................................................................................................................................................15
5 Scan Patterns..............................................................................................................................................16
5.1 Sampling Rate....................................................................................................................................16
5.2 The Full Field Scan...........................................................................................................................17
5.3 The Bounded Elevation Scan .......................................................................................................18
5.4 The Region Scan................................................................................................................................19
5.4.1 Region Scan Velocity Profile.................................................................................................21
5.4.2 Bounded Elevation Duration ...............................................................................................21
5.4.3 Region Scan Duration .............................................................................................................22
6 LIDAR Rangefinder..................................................................................................................................24
6.1 Modes of Operation .........................................................................................................................24
6.1.1 High-Speed Mode (HS) ...........................................................................................................24

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6.1.2 Long Range Mode (LR)...........................................................................................................24
6.1.3 Extended Range Mode (ER)..................................................................................................25
6.2 Returned Data....................................................................................................................................25
6.2.1 Return Amplitude.....................................................................................................................25
6.2.2 Return Reflectance...................................................................................................................25
6.2.3 Return Shape Deviation .........................................................................................................25
6.3 Return Filtering.................................................................................................................................26
7 Specifications .............................................................................................................................................27
FCC COMPLIANCE STATEMENT: This equipment has been
tested and found to comply with the limits for a CLASS A digital
device, pursuant to Part 15 of the FCC Rules. These limits are
designed to provide reasonable protection against harmful
interference when the equipment is operated in a commercial
environment.
This equipment generates, uses, and can radiate radio frequency
energy and, if not installed and used in accordance with the
instructions, may cause harmful interference to radio
communications. Operation of this equipment in a residential
area is likely to cause harmful interference in which case the
user will be required to correct the interference at own expense.
CE COMPLIANCE STATEMENT: This equipment has been tested
and passed with the requirements relating to electromagnetic
compatibility based on the standards EN 55022:2010 +AC:2011
(Class A) and EN61000-6-2:2005

Introduction 1
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1Introduction
IMPORTANT
READ CAREFULLY BEFORE USE
KEEP FOR FUTURE REFERENCE
The RE08 User Manual is provided as a guide to the connection, configuration and safe
use of the Ocular Robotics RE08 3D laser scanner. For development of custom software
applications for use with the RE08 system see the EyeLib Application Peripheral
Interface (API) Reference Manual and UDP Packet Specification Manual. For further
information, contact Ocular Robotics.
Chapter 2 Basics, describes the initial setup and basic use of the RE08 including
information on cleaning, maintenance and safety. Chapter 3 General Description
presents a system description in terms of the system’s Mechanical and Electrical
properties and its communication and power interfaces. Chapter 4 Measurement
Accuracy outlines the impact of the various system settings on system performance and
the accuracy of measurements made. Chapter 5 Scan Patterns describes the scanning
features available to the RE08 laser scanner. Chapter 6 LIDAR Rangefinder provides
information on the measurement modes and return data provided by the laser.
CAUTION - USE OF CONTROLS OR ADJUSTMENTS OR PERFORMANCE OF
PROCEDURES OTHER THAN THOSE SPECIFIED HEREIN MAY RESULT IN
RISK OF INJURY. IT WILL ALSO VOID YOUR WARRANTY

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2Basics
IMPORTANT –Before connecting the power to this system or
attempting to operate it in any way, read and follow all instructions
regarding safe operation of this system contained in Section 2.5.
2.1 System Components
Figure 2-1 –RE08 Packing List
The RobotEye RE08 3D laser scanning system is supplied standard with the following
components, each of which can be seen in Figure 2-1:
1. The RobotEye RE08 3D laser scanning head with Optical
Fibers and 10m Interconnecting Cable (Other lengths
available for Interconnecting Cable)
2. The RobotEye RE08 Control and Sensor Enclosure (CSE)
3. RE08 5m power cable.
4. IP68 LAN cable (*optional).
5. Installation & documentation disk.

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2.2 What You Need
In order to operate the RE08 laser scanning system, you will need:
1. Power supply –A 24 volt DC power supply with 25 amp surge current capability and
a continuous current capacity of 10 amps is recommended
2. Ethernet cable –A standard Ethernet cable (Cat5e or Cat6) is needed for control and
communication with the RE08 system.
3. A computer with a Windows or Linux operating system with an available Gigabit
Ethernet port.
2.3 Handling and Transportation
Avoid handling the RobotEye using the dome. Doing so may result in damage to the
dome, reducing optical performance.
When transporting, make sure the RobotEye dome will not be subject to large external
loads, stresses or impacts.
Figure 2-2 –RE08 Handling Zones

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2.4 Initial Setup
NOTE –The robot eye head must be handled with extra care
during transport and installation. External loads exerted on the
dome may result in damage.
Follow the steps below to set the RE08 system up for use on a computer with a
Windows or Linux operating system. The system IP address shipped with your system
should be noted on the supplied Certificate.
1. Connect one end of the Ethernet cable to the network port on the PC or switch.
Connect the other end to the RE08 CSE Ethernet port. Refer to Figure 2-3
2. Connect the Interconnecting Composite Cable to the RE08 CSE and secure with the
latch.
3. Make sure the 24 volt power supply is switched OFF. Connect the supplied power
cable to the 24 volt power supply. On the unterminated end of the cable you will find
three wires one black, one with a red sheath on it and a green and yellow cable. The
black wire should be connected to the negative terminal on the power supply. The
cable with the red sheath should be connected to the positive terminal on the power
supply. The green and yellow cable should be connected to a ground reference.
Figure 2-3 Wiring and connections for the RobotEye

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NOTE - Make sure the power supply is not powered before
connecting the cables.
4. Connect the power supply cable to the corresponding plug on the RE08 CSE. Ensure
the correct orientation by aligning the polarization keys on the panel connector and
the plug. If forced in the incorrect orientation, damage to the system is likely to
result. Refer to Section 3.2 for further details.
2.5 Safety
The RobotEye RE08 3D Laser Scanning System is a Class 1M laser device which contains
a laser which emits invisible radiation.
The device complies with Laser Class 1M based on IEC 60825-1:2007 and does
not pose any significant risk to a naked human eye unless passed through
magnifying optics.
Protection Class 3. The device operates with a separated extra low voltage
(SELV) of 24 Volts DC.
The device may only be operated as intended and in faultless condition. Safety
and warning signs must not be removed.
The Scanning Unit is in accordance with Ingress Protection 67 (IP67). The
device is protected against dust and immersion in 1 meter of water for up to
30 minutes.
The CSE is in accordance with Ingress Protection 66 (IP66). The device is
protected against dust and water jets.
All instructions regarding safe operation of this system should be strictly followed.
The user is responsible for the safe operation and maintenance of this system at all
times.
The RE08 is NOT intended for use by inexperienced personnel.
Installers of laser sensors are responsible for ensuring their safe use in accordance
with all applicable regulations in the state, country or territory of use.
Ensure fiber optic cables are correctly installed before powering on the
System. Laser radiation emitted directly from the CSE may cause damage to
the naked eye.

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The laser beam emitted from this device should not be modified using any
optical instruments or viewed directly with optical instruments.
Opening the device potentially exposes personnel to laser radiation that may
cause eye injuries.
Tampering with any enclosure will void warranty coverage.
The device must be securely mounted during operation to prevent unstable motions.
The manufacturer will not accept liability for any resulting damages caused by the
non-observance of this manual or any unauthorized modification to the system.
2.5.1 Safety Features
Class 1M laser products are required to be fitted with specific safety features. These
features are issued in the Laser Safety Standards ANSI Z136 and IEC 60825. The
required features fitted to the RE08 System are listed below:
Laser Safety Warning Labels –The following laser safety warning labels are
fitted to the RobotEye RE08 3D Laser Scanning System:
Laser Classification and Information Label on both the Scanning Unit and CSE
Figure 2-4 Laser Classification label
RobotEye Model Label on both the Scanning Unit and CSE
Figure 2-5 RobotEye Model Label
MADE IN AUSTRALIA
www.ocularrobotics.com
RobotEye RE08
U.S. Pat. No. 7,804,056

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RobotEye Identification Label appears on both the Scanning Unit and CSE
Figure 2-6 RobotEye Identification Label
2.6 Cleaning and Maintenance
CAUTION –Power must be disconnected from the RE08 system
before any cleaning or maintenance is carried out.
User performable cleaning and maintenance of the RobotEye RE08 3D Laser Scanning
System is limited to cleaning of the exterior housing and the dome. For ANY other
maintenance or repair the unit should be returned to the factory. Opening of the system
enclosure will void warranty. Use the following guidelines for cleaning of the system
enclosure and dome.
It is VERY important not to abrade or scratch the dome during cleaning or at any
other time as it has the potential to significantly degrade system performance.
Rinse the dome first to remove particles from the surface. Use a soft non-abrasive
cloth or tissue to clean the dome, ensure there are no foreign abrasive particles on
the dome before performing cleaning, as this may damage the dome. DO NOT use
solvents. If a cloth alone is not sufficient, a mixture of water and soap may be used.
The rest of the RE08 unit housing can be cleaned with a soft damp cloth.
2.6.1 Replacement Parts
Replacement parts can be ordered directly through Ocular Robotics.
1) RobotEye power cable.
2) IP68/IP69K Data cable.
a) An optional 5m or 10m IP68 Cable can be purchased from Ocular Robotics
3) 5mmx20mm 16A Slow Blow Fuse.
a) The fuse is located in the Fuseholder located next to the power connector.
Input: 24VDC
Power: 600W(max.)
Serial Number: RE08-XXXXX
MAC: 00-XX-XX-XX-XX-XX
OCULAR ROBOTICS RE08
MADE IN AUSTRALIA
www.ocularrobotics.com

General Description 8
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3General Description
The RobotEye RE08 3D Laser Scanning System is a high performance long range laser
scanning system, designed for rapid 3D cloud point imaging. The RE08 System with
sample rates of 25 kHz, 5 kHz and 500 Hz and high scan speeds is ideally suited to
generating dense point clouds of the environment both indoors and outdoors, at ranges
up to 270 meters for most natural surfaces. The RE08’s embedded RobotEye technology
brings to laser scanning previously unavailable control over scanning behavior. Three
scanning schemes are currently standard with the RobotEye RE08 System. Each scan
pattern is fully parameterized, so that the behavior of the system is entirely user
defined.
Full Field Scanning —When Full Field Scanning is used, the RobotEye scan parameters are the
azimuth and elevation rates. Varying these parameters results in a wide variety of possible scan
patterns, ranging from fast, coarse scans, to slower, more dense sampling patterns.

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Bounded Elevation Scanning —In bounded elevation scanning mode, the operator is able to
define a scan that covers a full 360° in azimuth but is restricted to a region of the elevation
range of the RE08. Again the azimuth rate is configurable as is the line density of the scan. This
mode enables the operator to concentrate the focus of the RE08 Scanner to a desired region and
at the same time have complete control over the density of the samples taken in that region.
Region Scanning —The region scanning mode allows the operator to define a region within the
RE08’s azimuth and elevation range in which to concentrate the range scanning. The region
scan mode gives the most control over the attention of the scanner with settings for azimuth
rate and number of lines as in the bounded elevation scan as well as the extent of the scan
region relative to its top left hand corner where it will scan repeatedly until a different scan is
commanded.
The RE08 3D Laser Scanning System is also able to reconfigure or swap between any of
these scanning modes immediately, making dynamic control of the scanner behavior
easy. Further details about the scanning behaviors are covered in Chapter 5.
3.1 Electrical
The RE08 System requires a 24 Volt DC power supply that has a continuous current
capacity of 10 Amps. The output voltage of the 24 VDC power supply used with the
RE08 System should not vary by more than ±15% from the nominal 24V under any
circumstances otherwise damage to the RE08 System may result.

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3.2 Power
Power is delivered to the RE08 with the supplied 5 meter power cable. The
unterminated end of the power cable has three wires, one black, one with a red sheath
on it and a green/yellow wire. The black wire should be connected to the negative
terminal on the power supply. The cable with the red sheath should be connected to the
positive terminal on the power supply and the green/yellow wire to a ground reference.
During connection of the power supply cable to the corresponding plug on the RE08
CSE, ensure the correct orientation by aligning the polarization keys on the panel
connector and the plug. If forced in the incorrect orientation, damage to the system is
likely to result.
A 16A rated slow blow fuse is housed in the fuseholder to prevent potential damage to
internal electrical components from power surges.
Figure 3-1 –Fuseholder on the RE08 Enclosure

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3.3 Mechanical
The bounding dimensions and positions of mounting holes for the RE08 are shown in
Figure 3-2 and Figure 3-3. Units are in mm [inches].
Figure 3-2 –RE08 Mechanical Dimensions

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Figure 3-3 - RE08 Mechanical Dimensions

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3.4 Ethernet
The RE08 System interfaces with a computer via a standard Ethernet cable. Gigabit
connectivity is recommended.
It is recommended that the system be used on a private network to avoid large amounts
of (unwanted) data potentially being sent to all computers on the network (see Figure
3-4). Multiple RE08 Systems can be connected on a single network. However this should
be done using a switch to avoid data collisions on the network (see Figure 3-5).
The RE08 is configured to allow any number of clients to receive data when in
broadcast mode. The RE08 will only accept commands from the Primary Client
however. This is to ensure that multiple clients cannot simultaneously send conflicting
commands to the sensor. The Primary Client is determined by the RE08 in a very simple
manner, it is the client that first sends data to the RE08 after it is powered up. For a
more detailed explanation of the network behavior of the RE08 System see the UDP
Communications Specification available for download from the Ocular Robotics website.
In most situations use of a Cat5e Ethernet cable will be sufficient for operation of the
RE08 system, however it is recommended that a Cat6 cable be used over long distances
to avoid packet loss due to the large volume of data.
Figure 3-4 –Network Schematic for Single Host PC to Single RE08

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Figure 3-5 –Network Schematic for Single Host PC to Multiple RE08s

Measurement Accuracy 15
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4Measurement Accuracy
4.1 Angular
The RE08 laser scanner natively records 3D data in spherical coordinates of range,
azimuth and elevation and also provides intensity, reflectance and pulse width for each
data point. The accuracy of the two angular components of azimuth and elevation along
with the range measurement determine the accuracy with which each data point can be
placed in 3D space.
The angular resolution of both the azimuth and elevation components is 0.0025°. The
reporting accuracy is <0.01° for both azimuth and elevation. The accuracy of the
reported azimuth and elevation aperture angles is independent of any path following
errors of the aperture. This means that regardless of what type of scan mode or azimuth
and elevation rates are set the angular accuracy of the positions of the points reported
by the RE08 are unchanged.
4.2 Range
The laser range finding module accurately measures range to a wide variety of surfaces
and materials. The rangefinder achieves measurement accuracy nominally of ±14mm ,
±10mm and ±8mm in High Speed, High Range and Extended Range Mode respectively,
however measurement accuracy for any particular scenario will be determined by
factors such as the nature of the surface being measured and ambient light levels.
NOTE –The RE08 laser scanner has a minimum range of 1 m from
the aperture regardless of measurement mode. Objects within 1 m
might be resolved based on the surface properties but performance
is not guaranteed.

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5Scan Patterns
The RE08 currently supports three configurable scan patterns; the Full Field Scan,
Bounded Elevation Scan, and Region Scan. These scan patterns are able to be altered, or
switched between on-the-fly (usually within a couple of milliseconds of the command
being sent) which is an unprecedented capability for a 3D laser scanner. Each scan
pattern is fully parameterized, meaning that the parameters (or variables) that define
the way the aperture moves can be altered by the user to create the arbitrary scanning
behavior demanded by a given application. Users are encouraged to explore the range of
options available to them, so that an 'optimal' configuration can be found for the
problem at hand.
The settings for each of these scan patterns will be examined in the following sections.
5.1 Sampling Rate
Three laser sampling rates are supported on the RE08.
The High Speed Mode operates at a 25 kHz sampling frequency. The distance values
are returned with corresponding intensity, reflectance and pulse width values. In this
mode, there is no pre-detection averaging.
The High Range Mode operates at 5 kHz sampling frequency. The distance values are
returned with corresponding intensity, reflectance and pulse width values. In this mode,
pre-detection averaging occurs across 5 samples.
The Extended Range Mode operates at a 500 Hz sampling frequency. The distance
values are returned with corresponding intensity, reflectance and pulse width values. In
this mode, pre-detection averaging occurs across 50 samples.
Table 1 –Distance Measurement Dispersion
Mode
Freq [Hz]
Avg
Output Freq
[Hz]
Dispersion [mm]
High Speed
25000
1
25000
14
High Range
25000
5
5000
10
Extended Range
25000
50
500
8