ESPROS TOFcam-635 Manuel utilisateur

TOFcam-635

Installation and Operation Manual

General description

The TOFcam-635 is a miniaturized and cost-optimized 3D TOF

camera. It is based on the ES ROS proprietary time-of-flight (TOF)

technology using the epc635 TOF chip. The camera controls the

illumination and the imager chip to obtain distance and grayscale

images.

The cameras are calibrated to provide accurate 3D depth images.

By using the ROS driver from ES ROS, 3D point clouds in a world

cartesian coordinate system are available.

The depth images are compensated against DRNU errors, modula-

tion errors, ambient-light, temperature and reflectivity of the scene.

Thanks to the high performance of the imager chip with the unique

ambient-light suppression, the camera can be used in many cases

under full sunlight conditions. The output of the TOFcam-635 is

depth and grayscale images – allowing a variety of new applica-

tions, e.g. for mobile robotics. This module brings you right in front

with the latest technology of 3D depth sensing. All the complex

engineering and time consuming design tasks regarding optics,

illumination and signal processing are already solved.

Features

■160 x 60 pixels (9600 pixels)

■Field of view (FOV) of 50° x 19° (h x v)

■Distance measurement ranges on white target:

Wide FOV: 0.1 ... 7.5 m, center beam (NFOV): 1.0 ... 15 m

■Measurement rate up to 50 TOF measurements per second

■Sun- and ambient-light tolerant up to 100 kLux

■Calibrated and compensated

■Temperature compensated

■Easy to use

■High speed serial interface UART 10 Mbit/s

■Low power consumption

■GUI for Windows and Mac

■ROS application for Linux

■ython library for Windows

■Software source code on request

■Customized versions possible

Applications

■Distance measurement from centimeters to a few meters

■Mobile robots, automatic vehicle guidance, collision avoidance

■Scanner for SLAM data acquisition in mobile robots

■eople and object counting, in-cabin monitoring

■Door opening, machine controlling and safeguarding, IoT

■Gesture control (man-machine-interface)

■Object classification

Figure 1: TOFcam-635 Figure 2: Wide and narrow field definition

Characteristics subject to change without notice

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Contents
Before you start ............................................................................................................................................................ 4
1. recaution and Safety ..............................................................................................................................................................................4
2. Updates.....................................................................................................................................................................................................4
3. Important Notes........................................................................................................................................................................................4
 . Abbreviations................................................................................................................................................................. 5
TOFcam-635 time of flight camera .............................................................................................................................. 7
1. System overview ......................................................................................................................................................................................7
2. Scope of delivery .....................................................................................................................................................................................7
3. Ordering information ................................................................................................................................................................................8
4. Technical data ..........................................................................................................................................................................................9
5. Mechanical data .....................................................................................................................................................................................10
5.1. Mechanical features ...............................................................................................................................................................................10
5.2. Mechanical dimensions ..........................................................................................................................................................................10
5.3. Mounting the camera .............................................................................................................................................................................11
6. Camera connectors ................................................................................................................................................................................12
7. Interface assembly variant .....................................................................................................................................................................13
Start up ........................................................................................................................................................................ 13
1. ower up with UART ..............................................................................................................................................................................13
2. System setup over USB .........................................................................................................................................................................13
GUI ............................................................................................................................................................................... 15
1. GUI main window ...................................................................................................................................................................................15
1.1. View menu .............................................................................................................................................................................................15
1.2. lay menu ..............................................................................................................................................................................................18
1.3. Streaming files format description .........................................................................................................................................................18
1.4. Live image window .................................................................................................................................................................................20
1.5. oint cloud .............................................................................................................................................................................................20
1.6. Dedicated information windows .............................................................................................................................................................28
2. I/O Control ..............................................................................................................................................................................................29
3. COM port settings ..................................................................................................................................................................................30
4. Configurations menu ..............................................................................................................................................................................30
Operating the device with a ROS .............................................................................................................................. 3 
1. ROS camera driver.................................................................................................................................................................................32
1.1. What is ROS?.........................................................................................................................................................................................32
1.2. Installation...............................................................................................................................................................................................32
1.3. Running the ROS driver..........................................................................................................................................................................32
2. ROS A I..................................................................................................................................................................................................33
2.1. Test environment ...................................................................................................................................................................................33
2.2. Start of the node.....................................................................................................................................................................................33
2.3. ublished topics......................................................................................................................................................................................33
2.4. Dynamically reconfigurable parameters.................................................................................................................................................34
Communication interface............................................................................................................................................ 35
1. Hardware interface..................................................................................................................................................................................35
2. Software interface...................................................................................................................................................................................35
3. Command format....................................................................................................................................................................................36
4. Response format.....................................................................................................................................................................................36
5. CRC checksum.......................................................................................................................................................................................36
6. Acknowledge ACK (response)................................................................................................................................................................37
7. Error handling.........................................................................................................................................................................................37
Command set overview............................................................................................................................................... 38
1. SET commands......................................................................................................................................................................................38
2. GET commands......................................................................................................................................................................................39
3. Miscellaneous commands......................................................................................................................................................................40
4. Factory maintenance commands............................................................................................................................................................41
SET commands ........................................................................................................................................................... 4 
1.  SET_MOD_CHANNEL  [0x0E] .............................................................................................................................................................42
2.  SET_INT_TIME_DIST  [0x00] ..............................................................................................................................................................43
3.  SET_INT_TIME_GS  [0x01] .................................................................................................................................................................43
4.  SET_O ERATION_MODE  [0x04] .......................................................................................................................................................44
5.  SET_HDR  [0x0D] .................................................................................................................................................................................44
6.  SET_ROI  [0x02] ...................................................................................................................................................................................45
7.  SET_TEM ORAL_FILTER_WFOV  [0x07] ..........................................................................................................................................45
8.  SET_TEM ORAL_FILTER_NFOV  [0x0F] ..........................................................................................................................................45
9.  SET_AVERAGE_FILTER  [0x0A] .........................................................................................................................................................46
10.  SET_MEDIAN_FILTER  [0x0B] ............................................................................................................................................................46
11.  SET_INTERFERENCE_DETECTION  [0x11] ......................................................................................................................................46
© 2022 ES ROS  hotonics Corporation
Characteristics subject to change without notice
/ 52 Installation_and_Operation_Manual_TOFcam635-V2.0
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12.  SET_EDGE_DETECTION [0x10]..........................................................................................................................................................47
13.  SET_FRAME_RATE  [0x0C] ................................................................................................................................................................47
14.  SET_AM LITUDE_LIMIT  [0x09] .........................................................................................................................................................47
15.  STO _STREAM  [0x28 ] ......................................................................................................................................................................47
16.  SET_COM ENSATION  [0x55] ............................................................................................................................................................47
17.  SET_ILLUMINATION_ OWER  [0x6C] ...............................................................................................................................................48
18.  SET_DLL_STE   [0x06] .......................................................................................................................................................................48
GET commands........................................................................................................................................................... 49
1. Acquisition modes...................................................................................................................................................................................49
2. Acquisition data output formats..............................................................................................................................................................49
3. Response header....................................................................................................................................................................................50
4. Warm-up.................................................................................................................................................................................................52
5.  GET_DIST  [0x20] .................................................................................................................................................................................53
6.  GET_DIST_GS  [0x29] .........................................................................................................................................................................53
7.  GET_DIST_AM LITUDE  [0x22] ..........................................................................................................................................................53
8. GET_GS  [0x24] .....................................................................................................................................................................................54
9.  GET_DCS  [0x25 ] ................................................................................................................................................................................54
10. GET_CALIBRATION_INFO  [0x57 ] .....................................................................................................................................................54
Miscellaneous commands.......................................................................................................................................... 55
1.  SET_OUT UT  [0x51] ..........................................................................................................................................................................55
2.  GET_IN UT  [0x52] ..............................................................................................................................................................................55
3.  GET_TEM ERATURE  [0x4A] .............................................................................................................................................................55
4.  GET_TOFCOS_VERSION  [0x49] .......................................................................................................................................................55
5.  GET_CHI _INFORMATION  [0x48] .....................................................................................................................................................55
6.  GET_ ROD_DATE  [0x50] ...................................................................................................................................................................56
7.  IDENTIFY  [0x47] ..................................................................................................................................................................................56
8.  GET_ERROR  [0x53] ............................................................................................................................................................................56
. Factory maintenance commands............................................................................................................................... 57
1.  CALIBRATE_DRNU  [0x41] ..................................................................................................................................................................57
2.  GET_CALIBRATION  [0x43] .................................................................................................................................................................57
3.  JUM _TO_BOOTLOADER  [0x44] ......................................................................................................................................................57
4.  U DATE_TOFCOS  [0x45] ..................................................................................................................................................................58
5.  WRITE_CALIBRATION_DATA  [0x4B] ................................................................................................................................................58
6.  SET_MOD_FREQUENCY  [0x05] ........................................................................................................................................................58
7.  SET_BINNING  [0x03] ..........................................................................................................................................................................58
Update camera operating system TOFCOS.............................................................................................................. 59
Maintenance and disposal.......................................................................................................................................... 60
1. Maintenance............................................................................................................................................................................................60
2. Disposal..................................................................................................................................................................................................60
Addendum ................................................................................................................................................................... 60
1. Related documents ................................................................................................................................................................................60
2. Links .......................................................................................................................................................................................................60
3. Licenses .................................................................................................................................................................................................60
IMPORTANT NOTICE................................................................................................................................................... 61
© 2022 ES ROS  hotonics Corporation
Characteristics subject to change without notice
/ 52 Installation_and_Operation_Manual_TOFcam635-V2.0
www.espros.com

1. Before you start

1.1. Precaution and Safety

This product is eye safe according to IEC62471-2013.

The camera module is an electronic device. Handle it with the necessary ESD precaution.

Over-voltage: Use only a power supply which correspond to the datasheet of the camera to avoid damage of the device

or cause danger for humans.

Cable-tripping: lace or mount the sensor on solid ground or fix it correctly on a solid support. lace cables carefully.

Falling devices can be damaged or harm persons.

The sensor comes with its own calibrated TOFCOS. Do not alter the TOFCOS without obeying the instructions herein.

Take care that the lens surfaces of the camera. Never use any solvents, cleaners or mechanically abrasive towels or

high pressure water to clean the sensor.

Operate the device in compliance with the local EMC regulations.

This camera is not a safety device. It may not be used in safety applications, explosive atmospheres or in radioactive

environment, except the user implements the required safety measures, e.g. by redundancy. However, the sole respon-

sibility for the safety of the application is by the user.

LIMITED WARRANTY - LOSS OF WARRANTY

This camera should only be installed and used by authorized persons. All instructions in this datasheet and in the

related documents shall be followed and fully complied with. In addition, the installer and user is required to comply with

all local laws and regulations. The installer and user is fully responsible for the safe use and operation of the system. It

is the sole responsibility of the installer and the user to ensure that this product is used according to all applicable codes

and standards, in order to ensure safe operation of the whole application. Any alteration to the devices by the buyer,

installer or user may result in device damage or unsafe operating conditions. ES ROS hotonics AG is not responsible

for any liability or warranty claim which results from such manipulation or disregarding of given operating instructions.

ES ROS hotonics AG is an ISO 9001: 2015 certified company.

This product is according to European Union standards and free of hazardous substances.

1. . Updates

ESPROS Photonics is constantly striving to provide comprehensive and correct product information. Therefore, please check

ESPROS' website regularly for updated versions of datasheets and documentations: www.espros.com

Download the latest Flyer TOFcam-635.

Download the latest Installation and Operation Manual of the TOFcam-635.

Download and use the latest TOFCAM635_SW_ ackage.

If there are any questions, please contact your ES ROS sales office or send an email to sales@espros.com.

1.3. Important Notes

Colored marking in text means “under consideration” and refers to not yet applicable or verified information.

Values and/or information are either estimates or show the applicable principle only.

Characteristics subject to change without notice

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. Abbreviations

Designator Description

3D Three dimensional

ACK Acknowledged

A I Application program interface

A/D Analog to digital

Binning Summation of a defined number of pixels. Binning can be done in the charge (analog) or in the digital domain

CMD Command

C U Central rocessing Unit

CRC Cyclic redundancy check (checksum)

cwTOF Continuous wave modulated time of flight

DCS Differential correlation sample

DLL Delay locked loop, controllable delay line

DRNU Distance response non-uniformity: Distance error from pixel to pixel with a target at the same distance

EMC Electromagnetic compatibility

EMI Electromagnetic interference

ESD Electrostatic discharge

FOV Field of view

fps Frame rate, number of images per second

Frame One image

GND Ground terminal, negative supply voltage

GS Grayscale

GUI Graphical user interface

HDR High dynamic range

ID Identifier

IN Input terminal which is used to sense a high or low voltage

ISO International organization for standardization

JEDEC Joint electron device engineering council

LED Light emitting diode used to illuminate the scenery or as indicator

LSB Least significant bit / byte

LVTTL Low voltage transistor transistor logic

MCU Microcontroller Unit

MSB Most significant bit / byte

NACK Not acknowledged

NFOV Narrow field of view

OUT Output terminal which is can be set to high or low voltage

RMS Root mean square

RoHS Restriction of hazardous substances

ROI Region of interest in the pixel-field

ROS Robot operating system

RX Receive terminal, data in

SLAM Simultaneous localization and mapping

SW Software

TBD / tbd To be defined, information not yet available or not valid

TOF Time of flight

TOFCOS Time of flight camera operating system, firmware in the camera

Characteristics subject to change without notice

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Designator Description

TTL Transistor transistor logic

TX Transmit terminal, data out

UART Universal asynchronous receiver transmitter

USB Universal Serial Bus

VDD ositive supply voltage

WFOV Wide field of view

Table 1: List of abbreviations used in this document

Characteristics subject to change without notice

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3. TOFcam-635 time of flight camera

3.1. System overview

The TOFcam-635 is a miniaturized and cost-optimized 3D TOF camera based on the ES ROS epc635 cwTOF imager chip with an

integrated SLAM feature:

•5VDC power supply input

•General purpose I/O connector

•STM32 ARM Cortex MCU

•The micro controller board communicates with the epc635 chip carrier board through an ultrafast TCMI serial interface.

•High performance TOF lens

•NIR band pass filter, AR coatings and stray-light suppression for optimal optical performance

•LED illumination adopted to the specific field of view

•LED illumination for narrow spot SLAM feature

•TOF camera operating system (TOFCOS) for camera control, distance calculation and filtering

•Communication by UART (standard) or USB (optional adapter required)

•Application programming interface (A I) for further processing is available. It opens the world for point cloud computing, using

open source tools or creating own customer applications.

•ROS device drivers for Linux available, Windows, Mac and Linux GUI available

3. . Scope of delivery

Pieces Part Name Picture

1 Time of Flight Camera TOFcam-635 consisting of:

–Designer housing with 2 IR windows

–Aluminum base plate and heat sink

–Receiver optic

–Illumination cpl.

–C U electronics

–Interfaces

1 “Fix clip” Aluminum mounting plate

2 Self tapping screws for camera mount

1 Software package containing GUI, ROS, ython A I and current

Firmware. Available on the ES ROS download page.

1 Documentation

(useful additional information available on the Espros download page )

Table 2: Scope of delivery

Characteristics subject to change without notice

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3.3. Ordering information

Picture Part No. Name Description

100 531 TOFcam-635 FoV 51° x 20°, 7.5m operating range (WFOW)

FoV 5° x 5°, 15m operating range (NFOW)

100 539 Adapter Kit UART to USB For TOFcam-635

- Adapter

- Cable 2 x 10 pin F-F, L = 150mm

- 2 Cables USB A – micro USB

100 610 ower supply 5VDC Input 90 … 260V

DC output 5V, 2A

USB A receptacle

100 516 Cable 10 pin, F, 75mm

JST 1.0mm, 28 AWG

Cable to connect a TOFcam-635 to a host

100 566 Cable 10 pin, F-F, 150mm

JST 1.0mm, 28 AWG

Cable to connect a TOFcam-635 to the UART to USB

adapter (included in 100 539)

300 473 Cable USB A to Micro

USB

To connect the UART to USB adapter to a power

supply and to a computer (2 x included in 100 539)

100 440 USB A extension cable,

M-F, 2m

Table 3: Order information for cameras and accessories

Characteristics subject to change without notice

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3.4. Technical data

All characteristics are at typical operational ratings, TA = +25ºC, VDD / VDDLED = 5V, object reflectivity 90%, unless otherwise stated.

Parameter Description Conditions Min. Type Max. Units Comments

VDD Main supply voltage Ripple 1 < 50 mVpp 4.75 5.0 5.25 V

VDDLED LED supply voltage Ripple 1 < 200 mVpp 4.75 5 5.25 V

IDD Main supply current Acquisition 140 mA

Idle 100 mA

IDDLED LED supply current Acquisition 200 / 925 mA RMS / eak, @ VDDLED 5V,

30fps

Idle 10 mA @ VDDLED 5V

λ Operating wavelength 850 nm

RESIMAGE Image resolution 160 x 60 ixel

FOV Field of view WFOV 50 x 19 ° 160x60 pixel

NFOV 5 x 5 ° 8x8 NFOV pixel

D Operating range WFOV 0.10 7.5 m Depends on integration time

NFOV 1 15 m

DUnabiguity Unambiguity range 2WFOV 7.5 m

NFOV 15.0 m

Acc Accuracy WFOV 0.1 … 2.0 m ± 4 cm Mean of 100 samples

WFOV 2.0 … 7.5 m ± 2 %

NFOV 3.0 ... 15.0 m ± 2 %

DNOISE Distance noise (1σ value) WFOV 0.1 mm Amplitude 100 ... 1'900 LSB,

Kalman Filter k = 10 and

threshold t = 300 mm,

ambient-light less than

10 kLux on target

NFOV 0.1 mm

tINT Integration time selectable 1 1000 µs Default: 125µs

tCYCLE Measurement cycle time GET_DIST

GET_DIST_AM LITUDE

@tINT = 125µs, single

measurement, including data

transmission

fMOD Modulation frequency WFOV 19.20 20.00 20.70 MHz Refer to Chapters 9.1 and

5.1.1

NFOV 9.60 10.00 10.35 MHz

tWR_U ower up time until acceptance of commands 1.5 s

tWARM_U Warm-up time until output data is in tolerance Refer to Chapter 10.4

RESDISTANCE Distance measurement resolution 1 mm/LSB Refer to Chapter 10.

ΦAL Ambient-light suppression 100 kLux Indirect, on target

Ee EAK eak illumination irradiance 372 W/m2With 200mm distance to the

front surface of the camera

Ee AVG Average illumination irradiance 108 W/m2With 200mm distance to the

front surface of the camera

VOUT OUT1 / OUT2 voltage drive capability 36 V Refer to Figure 9

IOUT OUT1 / OUT2 current sink capability 50 mA Over-current protected

VIN IN input voltage logic low 0 0.8 V Input resistance 100kΩ,

refer to Figure 8

logic high 3.0 30 V

TAAmbient temperature range -20 60 °C Operation and storage

RH Relative humidity 15 90 % Non-condensing

W Weight 43 g Without cable

ESD Electrostatic discharge rating JEDEC HBM class 1C (1kV to < 2kV) Human body model

EMC / EMI EMC emission EN 61000-6-3:2011, EN 61000-6-2:2005

Eye safety IEC62471:2013

Table 4: Technical data

Notes:

1Min. and Max. voltage values include noise and ripple voltage

2The camera uses the continuous-wave TOF phase-shift measurement technique with a modulation frequency of 10MHz (NFOV) and

20MHz (WFOV). This leads to unambiguity distances of 15m and 7.5m respectively. Highly reflective objects outside of the effective

operating range of 15 / 7.5m will appear closer due to the wrap-around of the modulation period.

Characteristics subject to change without notice

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3.5. Mechanical data

3.5.1. Mechanical features

The distance measurement starts from the front window of the housing with distance value 0mm. The mounting plate contains 2 holes

with a diameter of 3.6mm for mounting. Use only these mounting points. Use the screws included in the scope of delivery. A maximum

height of 2.8mm is allowed for the screw head. Because the mounting plate is also a heat sink for the illumination LEDs, it should not be

covered by thermal insulating material. Free air flow shall be provided at any time in order to avoid excessive heat of the camera. The

camera temperature can be monitored by reading the temperature with the command GET_TEM ERATURE (refer to Chapter 11.3) or

using the GUI respectively (refer to Figure 25)

3.5. . Mechanical dimensions

Characteristics subject to change without notice

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Figure 4: Mechanical dimensions

Figure 3: Mechanical features

Zero Distance

(camera lens window)

Base plate

Connector

Indicator

LEDs

Cover

Illumination window

X axis

Y axis

Distance axis (spheric)

Mounting plate

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