SICK Ranger E

Chapter 2 Reference Manual
Ranger E/D
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Overview
The Ranger E and ColorRanger E models have five different components for measuring
range, the Ranger C has three components, and the Ranger D has one component. They
differ in which method is used for locating the laser line:
Range component Model
E C D
Horizontal threshold X X Fast method, using one or two intensity
thresholds.
Horizontal max X X Uses the maximum intensity.
Horizontal max and
threshold
X Uses one intensity threshold.
High-resolution 3D
(Hi3D)
X X Measures with higher resolution, using an
algorithm similar to calculating the center-
of-gravity of the intensity.
The algorithm used by the Hi3D component
differs between Ranger E and Ranger D, as
does the format of the output.
High-resolution 3D
(Hi3D COG)
X X Measures with higher resolution, using a
true center-of-gravity algorithm.
For each measured point, the Ranger returns a range value that represents the number of
rows – or vertical pixels – from the bottom or top of the ROI to where it detected the laser
line.
Figure 2.5 – Different methods for determining the range by analyzing the light intensity
in each column of the sensor image:
Threshold determines the range by locating intensities above a certain level,
while Max locates the maximum intensity in each column.
Rows
Columns
Intensity
Threshold
S
ensor image
Rows
Intensity
Ma
x
Columns
Rows
Threshold Ma
x
Columns
Projected
laser line