Camera Selector based on Scene Volume

This section aims to help you choose the correct Zivid camera based on the length, width, height, and number of bins in the scene. The typical bins that are used for piece picking are Euro Containers and AutoStore Bins.

Euro Containers

Small Euro Containers

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

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

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.

On-Arm Mounting

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 mounting 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	Two M70	600	670 - 920
One Medium or two Small	600	400	70 - 320	Two M70	700	770 - 1020
One Large or two Medium	800	600	70 - 120	Two M70	900	970 - 1020
			170 - 520	Two L100		1070 - 1420
Two Large	1200	800	120 - 420	Two L100	1250	1370 - 1670

All dimensions are given in mm.

Stationary Mounting

Chose the number and size of Euro Containers in your scene. Then, based on robot clearance (to bin top) and bin height, find the camera model that suits your application.

One Small

Bin length	Bin width	To bin top	Bin height	Camera	To bin bottom
400	300	600 - 700	70 - 320	Two M70	670 - 1020
		800	70 - 220	Two M70	870 - 1020
			270 - 320	Two L100	1070 - 1120
		900	70 - 120	Two M70	970 - 1020
			170 - 320	Two L100 One+ M	1070 - 1220
		1000 - 1300	70 - 320	Two L100 One+ M	1070 - 1625

One Medium or two Small

Bin length	Bin width	To bin top	Bin height	Camera	To bin bottom
600	400	700	70 - 320	Two M70	770 - 1020
		800	70 - 320	Two M70	870 - 1020
			270 - 320	Two L100	1070 - 1120
		900	70 - 120	Two M70	970 - 1020
			170 - 320	Two L100 One+ M	1070 - 1220
		1000 - 1300	70 - 320	Two L100 One+ M	1070 - 1620

One Large or two Medium

Bin length	Bin width	To bin top	Bin height	Camera	To bin bottom
800	600	900	70 - 120	Two M70	970 - 1020
			170 - 320	Two L100 One+ M	1070 - 1220
		1000 - 1300	70 - 320	Two L100 One+ M	1070 - 1620
		1400	70 - 270	Two L100 One+ M	1470 - 1670
			320	One+ M	1720
		1500	70 - 170	Two L100 One+ M	1570 - 1670
			220 - 270	One+ M	1720 - 1770
			320	One+ L	1820
		1600	70	Two L100 One+ M	1670
			120 - 170	One+ M	1720 - 1770
			220 - 320	One+ L	1820 - 1920

Two Large

Bin length	Bin width	To bin top	Bin height	Camera	To bin bottom
1200	800	1250	120 - 420	Two L100 One+ M	1370 - 1670
			520	One+ M	1770
		1300	120 - 320	Two L100 One+ M	1420 - 1620
			420	One+ M	1720
			520	One+ L	1820
		1400	120 - 220	Two L100 One+ M	1520 - 1620
			320	One+ M	1720
			420 - 520	One+ L	1820 - 1920
		1500	120	Two L100 One+ M	1620
			220	One+ M	1720
			320 - 520	One+ L	1820 - 2020
		1600	120	One+ L	1720
			220 - 520	One+ L	1820 - 2120

All dimensions are given in mm.

When both Zivid Two L100 and Zivid One+ M are possible options, chose Zivid Two for better dimension trueness, Zivid One+ M for higher spatial resolution.

AutoStore Bins

Outside dimensions		Inside dimensions
Length	Width	Length	Width	Height
649 mm	449 mm	603 mm	403 mm	220 mm
				330 mm
				425 mm

Camera Selector for AutoStore Bins

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

On-Arm Mounting

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

AutoStore Bin	Bin length	Bin width	Bin height	Camera	To bin top	To bin bottom
One Bin	603	403	220 - 330	Two M70	700	920 - 1030
			435	Two L100		1125
Two Bins	898	603	220 - 425	Two L100	1000	1220 - 1425

All dimensions are given in mm.

Stationary Mounting

Chose the number of AutoStore Bins in your scene. Then, based on robot clearance (to bin top) and bin height, find the camera model that suits your application.

One Bin

Bin length	Bin width	To bin top	Bin height	Camera	To bin bottom
603	403	700	220 - 330	Two M70	920 - 1030
			425	Two L100	1125
		800	220	Two M70	1020
			330 - 425	Two L100 One+ M	1130 - 1225
		900 - 1200	220 - 425	Two L100 One+ M	1120 - 1625
		1300	220 - 330	Two L100 One+ M	1520 - 1625
			425	One+ M	1725

Two Bins

Bin length	Bin width	To bin top	Bin height	Camera	To bin bottom
898	603	1000 - 1200	220 - 425	Two L100 One+ M	1220 - 1625
		1300	220 - 330	Two L100 One+ M	1520 - 1620
			425	One+ M	1725
		1400	220	Two L100 One+ M	1620
			330	One+ M	1720
			425	One+ L	1825
		1500	220	One+ M	1720
			330 - 425	One+ L	1830 - 1920
		1600	220 - 425	One+ L	1820 - 2025

All dimensions are given in mm.

When both Zivid Two L100 and Zivid One+ M are possible options, chose Zivid Two for better dimension trueness, Zivid One+ M for higher spatial resolution.

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.

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 dimension of all the objects that the robot is picking. A good example is picking a piece of clothing in a poly bag. If the robot picks the bag up at a corner using, e.g., a suction cup, the bag will hang from the gripper. The robot must move the object above and across the bin edge, and the bag must not collide 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 to be detected 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 get the pick pose from the point cloud, given that you segment and detect the object in 2D. To be safe, we recommend a spatial resolution of 0.6 - 0.8 mm.

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.