基于场景立体空间要求的相机选择器

本文旨在帮助您根据场景的长、宽、高和料箱数量来选择合适的Zivid相机。通常情况下用于单品拣选的典型料箱是欧标物流箱（Euro Containers）和自动化仓储料箱（AutoStore Bins）。

欧标物流箱（Euro Containers）

小型欧标物流箱

外形尺寸		内部尺寸
长度	宽度	长度	宽度	高度
400 毫米	300 毫米	367 毫米	268 毫米	70 毫米
				120 毫米
				170 毫米
				220 毫米
				270 毫米
				320 毫米

中型欧标物流箱

外形尺寸		内部尺寸
长度	宽度	长度	宽度	高度
600 毫米	400 毫米	576 毫米	367 毫米	70 毫米
				120 毫米
				170 毫米
				220 毫米
				270 毫米
				320 毫米

大型欧标物流箱

外形尺寸		内部尺寸
长度	宽度	长度	宽度	高度
800 毫米	600 毫米	766 毫米	567 毫米	120 毫米
				220 毫米
				320 毫米
				420 毫米
				520 毫米

相机选择器

请选择您需要将相机安装在手臂上还是固定安装。

手臂安装

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.

欧标物流箱	箱子长度	箱子宽度	箱子高度	相机	（相机）到箱子顶部距离	（相机）到箱子底部距离
一个小型	400	300	70 - 320	Z2+ M60	500	570 - 820
一个中型或两个小型箱子	600	400	70 - 320	Z2+ M60	600	670 - 920
一个大型或两个中型箱子	800	600	70 - 520	Z2+ L110	800	870 - 1320
两个大型箱子	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

欧标物流箱	箱子长度	箱子宽度	箱子高度	相机	（相机）到箱子顶部距离	（相机）到箱子底部距离
一个小型	400	300	70 - 320	Z2+ M60	500	570 - 820
				Z2 M70	600	670 - 920
				Z2+ M130	800	870 - 1120
一个中型或两个小型箱子	600	400	70 - 320	Z2+ M60	600	670 - 920
				Z2 M70	700	770 - 1020
				Z2+ M130	1000	1070 - 1320
一个大型或两个中型箱子	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
两个大型箱子	1200	800	70 - 520	Z2+ L110	1200	1270 - 1720
			120 - 420	Z2 L100	1250	1370 - 1670 [1]
			70 - 520	Z2+ M130	2000	2070 - 2520 [1]

[1] (1,2)

Outside the working range but worth testing; the on-arm camera should be lowered as the bin is getting emptier to keep the distance to the workpieces as close as possible.

The camera in bold is the recommend one.

所有尺寸均以毫米为单位。

固定安装

Chose 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.

一个小型

箱子长度	箱子宽度	（相机）到箱子顶部距离	箱子高度	相机	（相机）到箱子底部距离
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

箱子长度	箱子宽度	（相机）到箱子顶部距离	箱子高度	相机	（相机）到箱子底部距离
400	300	500	70 - 320	Z2+ M60 [2]	570 - 820
		600 - 700	70 - 320	Z2+ M60 [2]	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 [3]	1070 - 1220
				Z2 L100 [3]
				Z1+ M [3]
		1000 - 1300	70 - 320	Z2+ M130	1070 - 1620
				Z2+ L110 [3]
				Z2 L100 [3]
				Z1+ M [3]

[2] (1,2)

When Zivid 2+ L110, Zivid 2 L100, and Zivid One+ M are possible options, chose Zivid 2 and Zivid 2+ for better dimension trueness, Zivid One+ M for higher spatial resolution.

[3] (1,2,3,4,5,6)

If not limited by robot clearance, choose Z2+ M130 at the closest possible distance.

The camera in bold is the recommend one.

一个中型或两个小型箱子

箱子长度	箱子宽度	（相机）到箱子顶部距离	箱子高度	相机	（相机）到箱子底部距离
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

箱子长度	箱子宽度	（相机）到箱子顶部距离	箱子高度	相机	（相机）到箱子底部距离
600	400	600	70 - 320	Z2+ M60 [4]	670 - 920
		700	70 - 320	Z2+ M60 [4]	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 [5]	1070 - 1220
				Z2 L100 [5]
				Z1+ M [5]
		1000 - 1300	70 - 320	Z2+ M130	1070 - 1620
				Z2+ L110 [5]
				Z2 L100 [5]
				Z1+ M [5]

[4] (1,2)

When Zivid 2+ L110, Zivid 2 L100, and Zivid One+ M are possible options, chose Zivid 2 and Zivid 2+ for better dimension trueness, Zivid One+ M for higher spatial resolution.

[5] (1,2,3,4,5,6)

If not limited by robot clearance, choose Z2+ M130 at the closest possible distance.

The camera in bold is the recommend one.

一个大型或两个中型箱子

箱子长度	箱子宽度	（相机）到箱子顶部距离	箱子高度	相机	（相机）到箱子底部距离
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

箱子长度	箱子宽度	（相机）到箱子顶部距离	箱子高度	相机	（相机）到箱子底部距离
800	600	800	70 - 120	Z2+ M60 [6]	870 - 920
			170 - 520	Z2+ L110 [6]	970 - 1320
		900	70 - 120	Z2+ M60 [6]	970 - 1020
				Z2 M70
			170 - 520	Z2+ L110 [6]	1070 - 1420
				Z2 L100 [7]
				Z1+ M [7]
		1000 - 1200	70 - 320	Z2+ L110 [6]	1070 - 1520
				Z2 L100 [7]
				Z1+ M [7]
		1300	70 - 320	Z2+ M130	1370 - 1620
				Z2+ L110 [7]
				Z2 L100 [7]
				Z1+ M [7]
		1400	70 - 520	Z2+ M130 [6]	1470 - 1920
			70 - 320	Z2+ L110 [7]	1470 - 1670
				Z2 L100 [7]
				Z1+ M [7]
			320	Z1+ M	1720
			520	Z1+ L	1920
		1500	70 - 520	Z2+ M130 [6]	1570 - 2020
			70 - 170	Z2+ L110 [7]	1570 - 1670
				Z2 L100 [7]
				Z1+ M [7]
			220	Z1+ M	1720
			270 - 520	Z1+ L	1770 - 2020
		1600	70 - 520	Z2+ M130 [6]	1670 - 2120 [8]
			70	Z2+ L110 [7]	1670
				Z2 L100 [7]
				Z1+ M [7]
			120	Z1+ M	1720
			170 - 520	Z1+ L	1770 - 2120

[6] (1,2,3,4,5,6,7,8)

If not limited by robot clearance, choose Z2+ M130 at the closest possible distance.

[7] (1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16)

When Zivid 2+ L110, Zivid 2 L100, and Zivid One+ M are possible options, chose Zivid 2 and Zivid 2+ for better dimension trueness, Zivid One+ M for higher spatial resolution.

[8]

Outside the working range but worth testing.

The camera in bold is the recommend one.

两个大型箱子

箱子长度	箱子宽度	（相机）到箱子顶部距离	箱子高度	相机	（相机）到箱子底部距离
1200	800	1200	120 - 420	Z2+ L110	1320 - 1620
		2000	120 - 520	Z2+ M130	2120 - 2520

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

箱子长度	箱子宽度	（相机）到箱子顶部距离	箱子高度	相机	（相机）到箱子底部距离
1200	800	1200	120 - 420	Z2+ L110	1320 - 1620
		1300	120 - 320	Z2+ L110 [9]	1420 - 1620
				Z2 L100
		1400	120 - 320	Z2+ L110 [9]	1520 - 1620
				Z2 L100
		1500	120	Z2+ L110 [9]	1620
				Z2 L100
		1900	120 - 520	Z1+ L [9]	2020 - 2420
		2000	120 - 520	Z2+ M130 [9]	2120 - 2520 [10]
				Z1+ L	2120 - 2520

[9] (1,2,3,4,5)

If not limited by robot clearance, choose Z2+ L110 at the closest possible distance; otherwise, choose Z2+ M130 at the closest possible distance.

[10]

Outside the working range but worth testing.

The camera in bold is the recommend one.

所有尺寸均以毫米为单位。

自动仓储料箱（AutoStore Bins）

外形尺寸		内部尺寸
长度	宽度	长度	宽度	高度
649 毫米	449 毫米	603 毫米	403 毫米	220 毫米
				330 毫米
				425 毫米

自动仓储料箱的相机选择器

请选择您需要将相机安装在手臂上还是固定安装。

手臂安装

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

自动仓储料箱	箱子长度	箱子宽度	箱子高度	相机	（相机）到箱子顶部距离	（相机）到箱子底部距离
一个箱子	603	403	220 - 330	2+ M60	600	820 - 930
			425	Z2 L100	650	1175
			220 - 425	2+ M130	1020	1240 - 1445
两个箱子	898	603	220 - 425	2+ L110	1000	1220 - 1425
			220 - 425	2+ M130	1480	1700 - 1905

All dimensions are given in mm. The camera in bold is the recommend one.

固定安装

Chose the number of AutoStore Bins 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.

一个箱子

箱子长度	箱子宽度	（相机）到箱子顶部距离	箱子高度	相机	（相机）到箱子底部距离
603	403	1100	220 - 425	Z2+ M130	1320 - 1525

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

箱子长度	箱子宽度	（相机）到箱子顶部距离	箱子高度	相机	（相机）到箱子底部距离
603	403	600	220 - 425	Z2+ M60	820 - 1025
		700	220 - 425	Z2+ M60	920 - 1125
				Z2+ L110
				Z2 M70
		800	220 - 425	Z2+ L110	1020 - 1225
				Z2+ M60
				Z2 M70
				Z2 L100
		900	220 - 425	Z2+ M130 [11]	1070 - 1220
				Z2 L100 [11]
				Z1+ M [11]
				Z2 M70 [11]
		1000 - 1300	220 - 425	Z2+ M130 [12]	1220 - 1725
				Z2+ L110 [11]
				Z2 L100 [11]
				Z1+ M [11]

[11] (1,2,3,4,5,6,7)

When Zivid 2+ L110, Zivid 2 L100, and Zivid One+ M are possible options, chose Zivid 2 and Zivid 2+ for better dimension trueness, Zivid One+ M for higher spatial resolution.

[12]

If not limited by robot clearance, choose Z2+ M130 at the closest possible distance.

The camera in bold is the recommend one.

两个箱子

箱子长度	箱子宽度	（相机）到箱子顶部距离	箱子高度	相机	（相机）到箱子底部距离
898	603	1500	220 - 425	Z2+ M130	1720 - 1920

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

箱子长度	箱子宽度	（相机）到箱子顶部距离	箱子高度	相机	（相机）到箱子底部距离
898	603	900	220	Z2+ M60	970 - 1020
			330 - 425	Z2+ L110	1230 - 1325
				Z2 M70
				Z2 L100
		1000 - 1200	220 - 425	Z2+ L110	1220 - 1625
				Z2 L100
		1300	220 - 425	Z2+ L110	1520 - 1620
				Z2 L100
		1400	220 - 425	Z2+ M130 [14]	1620 - 1825
				Z1+ M
				Z1+ L
			220 - 330	Z2+ L110	1620 -1730
		1500	220 - 425	2+ M130 [13]	1720 - 1920
				Z1+ L [13]
			220	Z1+ M	1720
		1600	220 - 425	2+ M130 [14]	1820 - 2025
				Z1+ L

[13] (1,2)

When Zivid 2+ L110, Zivid 2 L100, and Zivid One+ M are possible options, chose Zivid 2 and Zivid 2+ for better dimension trueness, Zivid One+ M for higher spatial resolution.

[14] (1,2)

If not limited by robot clearance, choose Z2+ M130 at the closest possible distance.

The camera in bold is the recommend one.

所有尺寸均以毫米为单位。

相机选择器的注意事项

手臂安装

相机必须安装在机器人上合适的的位置上，以便在捕获过程中可以看到料箱顶部的整个长度和宽度范围。在这个位置，夹具需要完全处于料箱之外。相机还必须安装在距离夹具末端足够远的位置，这样它就不会在拣选过程中与箱子边缘发生碰撞。即使在以一定角度（例如45度）进行抓取时，也应该保证这一点。

固定安装

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.

空间分辨率

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.

如果您有自定义场景或者使用了不同规格的料箱，您可以 计算FOV和成像距离 或查看我们的 安装说明 中的图纸。同时， 计算焦深 对于选择正确的相机型号也很重要。

下一章节是关于如何 正确地安装相机 ，以获得最佳拍照结果。