Chapter 3 Operating Instructions
Ranger E/D
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Overview
3.3.2 Measurement Methods
One part of configuring the Ranger is selecting which measurement method to use for
measuring. The Ranger has a number of built-in measurement methods – or components
– to choose from.
Which component to use is of course depending on what to measure – range, intensity or
scatter – but also on the following factors:
Required speed and resolution of the measurements
Characteristics of the objects to measure
Conditions in the environment
The MultiScan feature of the Ranger C and E models means that different components can
be applied on different areas of the sensor. These components will then be measuring
simultaneously.
For each component there is a number of settings – parameters – that can be used for
fine-tuning the quality and performance of the measurements. These parameters specifies
for example exposure time and which part of the sensor to use (Region-of-interest, ROI).
Range Components
The Range components are used for making 3D measurement of objects.
The Ranger uses laser triangulation when measuring range, which means that the object is
illuminated with a laser line from one direction, and the Ranger is viewing the object from
another direction. The laser line shows up as a cross section of the object on Ranger’s
sensor, and the Ranger determines the height of each point of the cross-section by locat-
ing the vertical location of the laser line.
The Ranger and the laser line should be oriented so that the laser line will appear along
the sensor in the Ranger. The laser line indicator on the back of the Ranger indicates in
which direction the Ranger expects the laser line to be oriented.
FIgure 3.4 – Laser triangulation
Ranger C and E models have four different components for measuring range, the Ranger D
has one component. They differ in which method is used for locating the laser line:
Horizontal threshold Fast method, using one or two intensity thresholds.
Horizontal max Uses the maximum intensity.
Horizontal max and threshold Uses one intensity threshold.
High-resolution 3D Measures with higher resolution, using an algorithm
similar to calculating the center-of-gravity of the inten-
sity. This is the only component available in Ranger D
cameras.
Sensor image
Laser line
Laser line indicator
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