Camera Selector based on Scene Volume

This section aims to help you choose the correct Zivid camera based on the length, width, height of the Volume Of Interest (VOI), and the number of bins in the scene. Bins with the standardized size used for bin picking are Euro Containers and Standard Plastic Totes. It is also common to use steel mesh cages, heavy-duty steel bins, and wooden crates, and sometimes, picking is done straight from a pallet.

Bin Picking Bins

Typical Scene Volumes

Dimensions

Length

600

800

800

800

1000

1000

1000

1100

1100

1200

1200

Width

400

600

800

800

750

1000

1000

1100

1100

800

1200

Height

400

500

500

800

500

500

1000

500

1000

800

400

All dimensions are given in mm.

Camera Selector

Choose whether you have an on-arm or a stationary camera.

Find the camera model that suits your application based on the bin size. Our recommended capture distance (to bin top) is in the same row.

Bin length

Bin width

Bin height

Camera

To bin top

To bin bottom

600

400

400

Z2+ M60

600

1000

800

600

500

Z2+ L110

800

1300

800

800

500

1050

1550

1000

750

500

1050

1550

1000

1000

500

1300

1800 [1]

1100

1100

500

1400

1900 [1]

1200

800

800

1200

2000 [1]

1200

1200

400

1550

1950 [1]

Complete option analysis

Bin length

Bin width

Bin height

Camera

To bin top

To bin bottom

600

400

400

Z2+ M60

600

1000

Z2 M70

700

1100

Z2+ M130

1020

1420

800

600

500

Z2+ L110

800

1300

Z2 L100

900

1400

Z2+ M130

1300

1800

800

800

500

Z2+ L110

1050

1550

Z2 L100

1250

1750 [2]

Z2+ M130

1600

2100 [2]

1000

750

500

Z2+ L110

1050

1550

Z2 L100

1200

1700 [2]

Z2+ M130

1650

2150 [2]

1000

1000

500

Z2+ L110

1300

1800 [2]

1100

1100

500

Z2+ L110

1400

1900 [2]

1200

800

800

Z2+ L110

1200

2000 [2]

1200

1200

400

Z2+ L110

1550

1950 [2]

The camera in bold is the recommend one.

All dimensions are given in mm.

Choose the size of the bin in your scene. Our recommendation for the camera and mounting distance (to bin top), i.e., robot clearance, for your application is in the same row.

Bin length

Bin width

To bin top

Bin height

Camera

To bin bottom

600

400

1000

400

Z2+ M130

1400

800

600

1300

500

1800

800

800

1050

400

Z2+ L110

1450

1600

800

Z2+ M130

2400 [3]

1000

750

1650

500

2150 [3]

1000

1000

2000

500

2500 [3]

1100

1100

2200

500

2700 [3]

1200

800

2000

1000

3000 [3]

1200

1200

2400

400

2800 [3]

If you have different robot clearance requirements, check out the Complete option analysis below to find the right camera for your application.

Complete option analysis

Bin length

Bin width

To bin top

Bin height

Camera

To bin bottom

600

400

600

400

Z2+ M60

1000

700

Z2 M70

1100

1000

Z2+ M130

1400

800

600

800

500

Z2+ L110

1300

900

Z2 L100

1400

1300

Z2+ M130

1800

800

800

1050

400

Z2+ L110

1450

1600

800

Z2+ M130

2400 [4]

1000

750

1050

500

Z2+ L110

1550

1650

Z2+ M130

2150 [4]

1000

1000

1300

500

Z2+ L110

1800 [4]

2000

Z2+ M130

2500 [4]

1100

1100

1400

500

Z2+ L110

1900 [4]

2200

Z2+ M130

2700 [4]

1200

800

1250

1000

Z2+ L110

2250 [4]

2000

Z2+ M130

3000 [4]

1200

1200

1550

400

Z2+ L110

1950 [4]

2400

Z2+ M130

2800 [4]

The camera in bold is the recommend one; choose Z2+ M130 always, unless limited by the robot clearance.

All dimensions are given in mm.


Euro Containers

Small Euro Containers

Euro Containers - Small

Outside dimensions

Inside dimensions

Length

Width

Length

Width

Height

400 mm

300 mm

367 mm

268 mm

70 mm

120 mm

170 mm

220 mm

270 mm

320 mm


Medium Euro Containers

Euro Containers - Medium

Outside dimensions

Inside dimensions

Length

Width

Length

Width

Height

600 mm

400 mm

576 mm

367 mm

70 mm

120 mm

170 mm

220 mm

270 mm

320 mm


Large Euro Containers

Euro Containers - Large

Outside dimensions

Inside dimensions

Length

Width

Length

Width

Height

800 mm

600 mm

766 mm

567 mm

120 mm

220 mm

320 mm

420 mm

520 mm

Camera Selector

Choose whether you have an on-arm or a stationary camera.

Find the camera model that suits your application based on the number and size of Euro Containers in your scene and on bin height. Our recommended capture distance (to bin top) is in the same row.

Euro Container(s)

Bin length

Bin width

Bin height

Camera

To bin top

To bin bottom

One Small

400

300

70 - 320

Z2+ M60

500

570 - 820

One Medium or two Small

600

400

70 - 320

Z2+ M60

600

670 - 920

One Large or two Medium

800

600

70 - 520

Z2+ L110

800

870 - 1320

Two Large

1200

800

70 - 520

Z2+ L110

1200

1270 - 1720

You can also check out the Complete option analysis below to find the right camera for your application.

Complete option analysis

Euro Container(s)

Bin length

Bin width

Bin height

Camera

To bin top

To bin bottom

One Small

400

300

70 - 320

Z2+ M60

500

570 - 820

Z2 M70

600

670 - 920

Z2+ M130

800

870 - 1120

One Medium or two Small

600

400

70 - 320

Z2+ M60

600

670 - 920

Z2 M70

700

770 - 1020

Z2+ M130

1000

1070 - 1320

One Large or two Medium

800

600

70 - 520

Z2+ L110

800

870 - 1320

70 - 120

Z2 M70

900

970 - 1020

170 - 520

Z2 L100

1070 - 1420

70 - 520

Z2+ M130

1320

1390 - 1840

Two Large

1200

800

70 - 520

Z2+ L110

1200

1270 - 1720

120 - 420

Z2 L100

1250

1370 - 1670 [5]

70 - 520

Z2+ M130

2000

2070 - 2520 [5]

The camera in bold is the recommend one.

All dimensions are given in mm.

Choose the number and size of Euro Containers in your scene. Our recommendation for the camera and mounting distance (to bin top), i.e., robot clearance, for your application is in the same row.

Bin length

Bin width

To bin top

Bin height

Camera

To bin bottom

400

300

800

70 - 320

Z2+ M130

870 - 1120

If you have different robot clearance requirements, check out the Complete option analysis below to find the right camera for your application.

Complete option analysis

Bin length

Bin width

To bin top

Bin height

Camera

To bin bottom

400

300

500

70 - 320

Z2+ M60 [6]

570 - 820

600 - 700

70 - 320

Z2+ M60 [6]

670 - 1020

Z2 M70

800

70 - 320

Z2+ M130

870 - 1120

70 - 220

Z2+ M60

870 - 1020

Z2 M70

270 - 320

Z2+ L110

1070 - 1120

Z2 L100

900

70 - 320

Z2+ M130

970 - 1220

70 - 120

Z2+ M60

970 - 1020

Z2 M70

170 - 320

Z2+ L110

1070 - 1220

Z2 L100

1000 - 1300

70 - 320

Z2+ M130

1070 - 1620

Z2+ L110

Z2 L100

The camera in bold is the recommend one.

Bin length

Bin width

To bin top

Bin height

Camera

To bin bottom

600

400

1000

70 - 320

Z2+ M130

1070 - 1320

If you have different robot clearance requirements, check out the Complete option analysis below to find the right camera for your application.

Complete option analysis

Bin length

Bin width

To bin top

Bin height

Camera

To bin bottom

600

400

600

70 - 320

Z2+ M60 [7]

670 - 920

700

70 - 320

Z2+ M60 [7]

770 - 1020

Z2 M70

800

70 - 320

Z2+ M130

870 - 1120

70 - 220

Z2+ M60

870 - 1020

Z2 M70

270 - 320

Z2+ L110

1070 - 1120

Z2 L100

900

70 - 320

Z2+ M130

970 - 1220

70 - 120

Z2+ M60

970 - 1020

Z2 M70

170 - 320

Z2+ L110

1070 - 1220

Z2 L100

1000 - 1300

70 - 320

Z2+ M130

1070 - 1620

Z2+ L110

Z2 L100

The camera in bold is the recommend one.

Bin length

Bin width

To bin top

Bin height

Camera

To bin bottom

800

600

1300

70 - 320

Z2+ M130

1370 - 1620

If you have different robot clearance requirements, check out the Complete option analysis below to find the right camera for your application.

Complete option analysis

Bin length

Bin width

To bin top

Bin height

Camera

To bin bottom

800

600

800

70 - 120

Z2+ M60 [8]

870 - 920

170 - 520

Z2+ L110 [8]

970 - 1320

900

70 - 120

Z2+ M60 [8]

970 - 1020

Z2 M70

170 - 520

Z2+ L110 [8]

1070 - 1420

Z2 L100

1000 - 1200

70 - 320

Z2+ L110 [8]

1070 - 1520

Z2 L100

1300

70 - 320

Z2+ M130

1370 - 1620

Z2+ L110

Z2 L100

1400

70 - 520

Z2+ M130 [8]

1470 - 1920

70 - 320

Z2+ L110

1470 - 1670

Z2 L100

1500

70 - 520

Z2+ M130 [8]

1570 - 2020

70 - 170

Z2+ L110

1570 - 1670

Z2 L100

1600

70 - 520

Z2+ M130 [8]

1670 - 2120 [9]

70

Z2+ L110

1670

Z2 L100

The camera in bold is the recommend one.

Bin length

Bin width

To bin top

Bin height

Camera

To bin bottom

1200

800

1200

120 - 420

Z2+ L110

1320 - 1620

2000

120 - 520

Z2+ M130

2120 - 2520

The camera in bold is the recommend one.

If you have different robot clearance requirements, check out the Complete option analysis below to find the right camera for your application.

Complete option analysis

Bin length

Bin width

To bin top

Bin height

Camera

To bin bottom

1200

800

1200

120 - 420

Z2+ L110

1320 - 1620

1300

120 - 320

Z2+ L110 [10]

1420 - 1620

Z2 L100

1400

120 - 320

Z2+ L110 [10]

1520 - 1620

Z2 L100

1500

120

Z2+ L110 [10]

1620

Z2 L100

2000

120 - 520

Z2+ M130 [10]

2120 - 2520 [11]

The camera in bold is the recommend one.

All dimensions are given in mm.

Considerations taken for Camera Selector

On-Arm mounting

The camera has to be mounted on a robot in such a position that it can see the entire length and width of the bin top during capture. At this position, the gripper needs to be entirely outside of the bin. The camera also has to be mounted far enough away from the gripper tip so it does not collide with the bin edges during picking. This should hold even when picking at an angle, e.g., 45 degrees.

Camshafts in a deep bin

Stationary mounting

The robot must have enough clearance to move between the camera and the bin freely without colliding with the camera. The total distance of clearance to the bin top depends on several elements. The first one is the total gripper length. The gripper must be entirely above the bin before entering the bin. The second element is the largest height of the object in the pose the robot is taking it out from the bin. If the robot picks the object up using, e.g., a mechanical gripper, the object will be suspended from the gripper. The robot must move the object above and across the bin edge, not colliding with the bin’s edge during robot motion. Lastly, there is the camera size and some safety margin.

Spatial resolution

Spatial resolution is an important factor when selecting the distance of imaging. To find spatial resolution requirements, we need to consider the smallest object feature to be seen at the largest desired distance of imaging. As an exercise, let us take a cube of 1 cm x 1 cm in size. A spatial resolution of 1 mm gives 8-10 points in each dimension, which is 64-100 points. This number of points should be sufficient to detect the object from the point cloud and estimate its pick pose. To be safe, we recommend a spatial resolution of 0.5 - 0.8 mm for most objects, and 0.25 - 0.5 for small objects and objects with fine details / small features.

If you have a custom scene or use different bins, you can always Calculate FOV and Imaging Distance or check out our Mounting Specifications diagrams. It is also important to Calculate Depth of Focus when selecting the right camera model.

The next section is about the correct positioning of the camera for the best imaging results.

Version History

SDK

Changes

2.12.0

Zivid One+ has reached its End-of-Life and is no longer supported.