bThisproductisnotasafetycomponentasdenedinthe
Machinery Directive. Visionary-B PS does not constitute
personal protection equipment in accordance with the
respective applicable safety standards for machines.
b Mounting and electrical installation of the device must be
carriedoutbyprofessionallyqualiedandtrainedpersonnel
only.
b Prior to mounting, it is imperative that you follow the
machine manufacturer’s operating instructions and agree
on possible mounting positions with the manufacturer in
advance, where appropriate.
b When mounting the device and carrying out the electrical
installation, always comply with standard operating proce-
dures, health regulations and environmental regulations in
force.
b The sensor head and evaluation unit are not suitable for use in
explosion-hazardous areas.
b
When installing the device, always consider the electrical
connected loads.
b Use only the cables provided to install the device.
b Replace faulty or damaged cables and male connectors
immediately.
b Replace damaged or faulty components immediately and
in consultation with SICK AG.
b When mounting the device, it is imperative that you use
suitable mounting equipment and that you consider their
specictighteningtorques.Themountingequipmentmust
be self-locking or secured appropriately.
b Ensure a constant voltage supply to the device within the
set parameters.
b Operate the camera only within the set operating
parameters.
b Regularly check that the camera is functioning properly,
e.g., at the end of the working day.
b Do not cover the evaluation unit and ensure proper heat
dissipation at the mounting position.
b Structuralmodicationstothesystemarenotpermitted!
Visionar y-B
Smart 3D camera for
outdoor applications
8023819/159S/9MS (2019-09-04)
All rights reserved. Subject to change without notice.
QUICK START
Visionary-B PS
Completing the mechanical and
electrical set-up
Preparing for mounting
Safety
Product features
Scope of delivery
Checking the interface setup
Overview
Installing the programming interface
ColliseoClient is a programming interface that allows you to
receive, visualize and process data from the Visionary-B PS. It
can be installed on Windows or Linux (Ubuntu), and is used for
application programming.
1. Pleasedownloadtheinstallationle.Itisavailableat
www.sick.com/visionary-b .
2. Install the ColliseoClient software by running the installa-
tionle.
Note: Pleaseusetheappropriateinstallationlefor
youroperatingsystem.Thelesareuniquely
named.
The installation requires administrator
rights. Detailed information on installing the
programming interface is available in a separate
document included in the installation package.
On Windows: Also install “Microsoft Visual C++ Redistribut-
able for Visual Studio”, version 2015 or higher.
Checking the installation
1. Switch on the 3D camera by establishing the voltage
supply to the evaluation unit.
2. Ensure that your computer is connected to the evaluation
unit via an Ethernet cable. The IP address of the com-
puter must be in the same subnet as the evaluation unit.
The IP address of the evaluation unit is 192.168.1.123.
3. Execute one of the supplied programming examples to
verify an error-free installation and connection to the
camera.
3.1. On Windows: The default location for the program-
ming examples is “%PROGRAMFILES\ColliseoClient\
bin”, e.g., “SimpleViewer.exe”
3.2. On Ubuntu: The default location for the programming
examples is “/usr/bin”, e.g.,
“./SimpleViewer”
Note: Make sure that ports 4000 and 5000 are
enabledonyourcomputer.Deactivatetherewall,
if necessary
.
After installing the programming interface, the following addi-
tional steps are required to enable application programming.
The required steps depend on the underlying operating
system. Windows and Ubuntu are therefore described
separately below.
1. On Windows 7/10:
Install the following software packages:
▸Cmake(version2.8orhigherrequired)
▸VisualC++buildtools2015
▸QtwithMSVCcomponent
(version 5.7 or higher required)
▸BoostC++library
Note: Furthercongurationmayberequiredfor32-bit
versions. Please refer to the separate, detailed
documentation provided
b Smart 3D snapshot camera for use in harsh outdoor
environments, for example on offroad heavy-duty utility
vehicles
b 3-in-1: High-resolution 3D and 2D image data as well as
evaluated data
b Reliabledatalargelyirrespectiveofenvironmentalinu-
ences – even strong sunshine or rain
bSensorheadtemperaturerange:−40°C…+75°C
b Very rugged housing for outdoor use: IP69K for the sensor
head
b Detection,classicationandpositiondeterminationof
objects
b Programming interface for Windows and Linux systems
Visionary-B PS:
b Sensor head with mounting accessories
b Evaluation unit with mounting accessories and supply cable
b Ethernet cable
b Quickstartinstructions
Visionary-B PS is a smart 3D streaming camera for outdoor
applications. The camera is based on the stereoscopic
principle and delivers real time data at up to eight frames per
second.
Visionary-B PS continuously streams data over Ethernet, which
after mechanical and electrical installation is complete, can
be processed and visualized on an external computer using
the supplied programming interface.
Tobeabletousethe3Dcamera,thefollowingstepsmustrst
be performed:
1. Mechanical and electrical installation
2. Install the programming interface on a local computer
3. Connect the evaluation unit to the local computer
SICK products meet industrial standards. The focus is on
availability of products and services. SICK always assumes
thattheintegrityandcondentialityofthedataandrights
affected by the use of the aforementioned products will be
ensured by the customer.
Disclaimer
EN
Verify successful installation by compiling the supplied
programming examples.
1. On Windows:
1.1. Navigate to the “examples” folder in the
ColliseoClient installation path.
1.2. Create a “build” folder
1.3. Navigate to the “build” folder
1.4. Open the “Visual COMMAND PROMPT (x86 Native
Tools)”
1.5. Execute the following command:
cmake ../ -G”NMake Makeles” -DCMAKE_INSTALL_
PREFIX=. –DCMAKE_BUILD_TYPE=Release - DCOLLI
SEOCLIENT=”C:/Program Files/ColliseoClient/”
–DBoost_INCLUDE_DIR=”C:\boost” – DCMAKE_PRE
FIX_PATH=”C:\Qt\5.7\msvc2015_64” && nmake
install
Note:
Please adjust the Boost_INCLUDE_DIR and
CMAKE_PREFIX_PATH path values to the actual
installation path on your system. Elevated user
permissions (administrator permissions) may
be required for error-free execution.
1.6.Copythedlllestothefolder~\ColliseoClient\
bininthefoldercontainingthebinarylesyoujust
compiled ($PATH\ColliseoClient\share\
ColliseoClient\examples\build\bin)
1.7. In each programming example folder, create a
“CommandClient.ini”lecontainingthefollowing:
„~~~~~~~~~~~~~~~~{.ini}
[connection]
IP=192.168.1.123 ; 192.168.1.123 is the default
IP. Always valid even if you added/congured a new
IP. Change this IP to the IP colliseo product to avoid
IP collisions.”
1.8. Open a Command Prompt and execute one of the
newlycreatedprogrammingexamples(e.g.,~/
SimpleViewer.exe)
2. On Ubuntu:
2.1. Open a terminal (shell)
2.2. Navigate to the “examples” folder
2.3. Create a “build” folder
2.4. Navigate to the “build” folder
2.5. Execute the following command there:
cmake ../ -DCMAKE_INSTALL_PREFIX=. -DCOLLISEO
CLIENT=/usr && make install
2.6. In the folder of each of the programming examples
justcreated,createa“CommandClient.ini”le
containing the following:
„~~~~~~~~~~~~~~~~{.ini}
[connection]
IP=192.168.1.123 ; 192.168.1.123 is the default IP.
Always valid even if you added/congured a new IP.
Change this IP to the IP colliseo product to avoid
IP collisions.“
2.7. Execute one of the newly created programming
examples (e.g., ./SimpleViewer/SimpleViewer)
2. On Ubuntu 16.04:
Install the following packages:
▸build-essentials
▸cmake
▸g++
▸pkg-cong
▸libqt5quick5
▸libqt5multimedia5
▸qtdeclarative5-dev
▸qtmultimedia5-dev
▸libqt5gstreamer-dev
▸libqt5gstreamer-1.0-0
▸gstreamer1.0-libav
▸gstreamer1.0-plugins-base
▸gstreamer1.0-plugins-bad
▸gstreamer1.0-plugins-good
▸gstreamer1.0-plugins-ugly
▸libgstreamer1.0-dev
Note: We recommend carrying out the installation via
the APT package management system.
Additional information
For more information about the product, visit www.sick.com.
Pleasecontactyourlocalsalesofceintheeventofany
support queries.
Part no. Description
2098100 Cable for connecting the sensor head/
evaluation unit (3 m)
2098101 or Cable for connecting the sensor head/
evaluation unit (5 m)
2098102 or Cable for connecting the sensor head/
evaluation unit (10 m)
2098103 or Cable for connecting the sensor head/
evaluation unit (15 m)
2098104 or Cable for connecting the sensor head/
evaluation unit (20 m)
Note: At least one of these cables is required to operate the
camera!
Necessary accessories
1. Preparethesensorheadmountingposition(1)byrst
attaching a stable device holder. Pay attention to the
values for the detection zone and the sensor head’s
permitted environmental parameters.
2. Install the connecting cable for the sensor head between
the sensor head mounting location and the evaluation
unit mounting location (necessary accessory).
Install it along protected areas as much as possible (e.g.,
recesses, grooves, etc.).
Note: Ensure that the cable cannot become squashed,
pulled, or kinked. If possible use heavy duty cable
channels.
Note: Do not cover the evaluation unit and ensure
proper heat dissipation at the mounting position.
Ensure that the evaluation unit is not exposed to
direct sunlight.
3. Prepare the mounting position for the evaluation unit
(2) by getting the connection ready at the installation
location.
If possible use heavy duty cable channels here as well, or
lay the cable under cladding.
Note: Make sure that all connections are accessible.
Setting up the programming interface
Note: The evaluation unit must be switched off when it
is connected to the peripheral systems, otherwise
the components may become damaged.
2. Mount the bracket provided for the sensor head.
3. Mount the sensor head on the prepared bracket on the
vehicle.
4. Set the sensor head bracket to the designated tilt angle.
5. Connect the connecting cable to the sensor head and the
evaluation unit.
6. If mounting the device on a vehicle, switch off the
vehicle’s ignition.
Note: Please be aware that the cables and the fuse box
of your machine may still be energized.
7. Make sure that the voltage supply has been interrupted
to the connections you are using. For vehicles, press the
main battery switch and interrupt the voltage supply to
the connections for the vehicle’s electrical system.
Note: Protect the evaluation unit against electrical
overstress. You can use the supplied fuses for
this. Please note that failure to observe this
measure will invalidate any warranty claims.
8. Connect the evaluation unit to the prepared connections.
9. Connect the Ethernet cable to the evaluation unit
and your local computer or the network to which your
computer is connected.
1
2
1. Mount the evaluation unit at the designated installation
position. To do so, use the mounting screws provided or
othersuitablettings.
Australia
Phone +61 3 9457 0600
1800 334 802 – tollfree
Austria
Phone +43 22 36 62 28 8-0
Belgium/Luxembourg
Phone +32 2 466 55 66
Brazil
Phone +55 11 3215-4900
Canada
Phone +1 905.771.1444
Czech Republic
Phone +420 2 57 91 18 50
Chile
Phone +56 2 2274 7430
China
Phone +86 20 2882 3600
Denmark
Phone +45 45 82 64 00
Finland
Phone +358-9-2515 800
France
Phone +33 1 64 62 35 00
Germany
Phone +49 211 5301-301
Hong Kong
Phone +852 2153 6300
Hungary
Phone +36 1 371 2680
India
Phone +91 22 6119 8900
Israel
Phone +972 4 6881000
Italy
Phone +39 02 274341
Japan
Phone +81 3 5309 2112
Malaysia
Phone +6 03 8080 7425
Mexico
Phone +52 (472) 748 9451
Netherlands
Phone +31 (0) 30 229 25 44
New Zealand
Phone +64 9 415 0459
0800 222 278 – tollfree
Norway
Phone +47 67 81 50 00
Poland
Phone +48 22 539 41 00
Romania
Phone +40 356 171 120
Russia
Phone +7 495 283 09 90
Singapore
Phone +65 6744 3732
Slovakia
Phone +421 482 901201
Slovenia
Phone +386 591 788 49
South Africa
Phone +27 11 472 3733
South Korea
Phone +82 2 786 6321
Spain
Phone +34 93 480 31 00
Sweden
Phone +46 10 110 10 00
Switzerland
Phone +41 41 619 29 39
Taiwan
Phone +886-2-2375-6288
Thailand
Phone +66 2645 0009
Turkey
Phone +90 216 528 50 00
United Arab Emirates
Phone +971 4 88 65 878
United Kingdom
Phone +44 1727 831121
USA
Phone +1 800 325 7425
Vietnam
Phone +65 6744 3732
Detailed addresses and further
locations at www.sick.com
B
F
D
E
Connection for voltage supply
(evaluation unit)
Technical data
Connection diagram
Connections (evaluation unit)
A
Dimensional drawings in mm [inch]
C
Detection volume
Visionary-B PS
Working distance 0.5 m ... 72 m
Detection zone (∆x‘ x ∆y‘)
1)
6 m x 7 m
Maximum detection angle 120°x75°
Response time < 150 ms typical
Maximum frame rate 8 fps
Switch-on delay < 50 s
Mounting height Arbitrary; 1 m ... 2.4 m for optimal object classification,
Mounting position depending on required detection zone
Weight of sensor head 1.3 kg
Weight of evaluation unit 3.8 kg
Dimensions See dimensional drawings
Protection class IP69K (sensor head), IP67 (evaluation unit)
Supply voltage 12 V DC -10%
24 V DC +40%
2)
Connections (evaluation unit) 1 x USB (reserved)
2 x sensor heads
Monitor (reserved)
Additional alarm output, two discrete outputs (reserved)
Machine-machine interface (reserved)
Evaluation power unit supply
Ethernet
Power consumption ≤30Wmax.
1W power-on signal
0.8 mA at 24 V in standby mode
Output voltage 12 V output voltage
100 mA output current (overcurrent protection max. 430 mA)
Light sensitivity 200 lux ... 80,000 lux
Ambient temperature (operation) −40°C…+75°C(sensorhead),–40°C…+50°C(evaluationunit)
Ambient temperature (storage) −40°C…+75°C(sensorhead),–20°C…+75°C(evaluationunit)
Impact load (short-term) EN 60068-2-29:1994-01 (50 g / 6 ms)
Vibration load EN 60068-2-64:2008-11 (5.9 g / 10 Hz - 2 kHz)
Electromagnetic compatibility (EMC) EN 55016-2-3:2010+ A1:2011 + A2:2014 (interference immunity)
EN 55012:2008-06 + A1:2009 (radiated emission)
Further standards ISO 13766:2006-05 (earth-moving machinery), EN 12895:2015-09 (industrial
trucks), EN 13309:2010-09 (construction machinery), ISO 14982:2009-02
(agricultural and forestry machinery), ISO 7637-2:2011-03, ISO 16750-
2:2012-11, ISO 16001:2017
FCC PART 15:2006-08
1)
Zoneontheground(Δx’xΔy’,3Dprojectionontotheground)inwhichobjectsareclassiedandtheirpositiondetermined.
2)
Ensure harmonic-free supply voltage
The detection performance depends on:
▸Thecontrastoftherecordedsceneandindividualobjects
in it.
▸Theambientconditions,forexamplerain,dust,light
conditions, in particular direct illumination from strong light
sources.
Furthermore,theperformanceofobjectclassicationand
position determination depends on:
▸Themountingheightrelativetothegroundoraboundary
surface.
▸Themountinganglerelativetothegroundoraat
boundary surface.
The recommended mounting bracket for various installation
heights are shown in the table below.
Thedetectionzoneforobjectclassicationandposition
determinationcoversanarea(∆x’x∆y’,3Dprojectiononto
theground)ofatleast6m(∆x’)inwidthandmaximum7m
indepth(∆y’).
The maximum detection range is pre-set to 72 m. This value
may differ from the actual value, or be physically restricted
duetoenvironmentalinuencesormountingparameters.
Mounting height (m) Mounting angle (°)
1.0 0
1.2 -6
1.4 -11
1.6 -17
1.8 -23
2.0 -29
2.2 -31
2.4 -33
Detection zone for integrated object classication and
position determination
Δy'
x', y'(0,0)
z
90°
Δx'
243.8
(9.6)
226 (8.9)
207.6
(8.17)
175.3
(6.9)
83.3
(3.28)
93 (3.66)
80 (3.15)
Power
Data
Data via Ethernet
Supply
voltage
GND
7.5 A
+Battery
+Discrete signal input (reserved)
2.0 A
+Ignition
2.0 A
2.0 A
2.0 A
+Discrete signal input (reserved)
+Discrete signal input (reserved)
Pin Color Description
1 White GND
2 Brown +Battery
3 Gray +Ignition
4 Green +Discrete signal input (reserved)
5 Yellow +Discrete signal input (reserved)
6 Pink +Discrete signal input (reserved)
The connections on the vehicle and evaluation unit side must
be connected identically. Protect the evaluation unit against
overstress, e.g., using the fuses supplied.
12 34
5678
276.9
(10.9)
91.3
(3.59)
190 (7.48)
258.9
(10.19)
30 (1.18)
80 (3.15)
Ø 6.4
(0.25)
85 (3.35)
221 (8.7)
Service and maintenance
▸
Regularly check the screw terminals and the connections.
▸
Clean the optical areas of the sensor head daily
andintheeventofcontamination.Afxthelabelin
a well visible location to provide information to the
operator.
▸ Cleanthehousingusingasoftcloth.Eitherusea
dry cloth, or dampen it with lukewarm water and a small amount
of mild cleaning agent.
▸ Cleantheareasbetweenthecoolingribsoftheevaluationunit
whenever there is evidence of contamination.
▸Operating systems:
Windows 10 Professional (32/64 bit)
Windows 7 Professional (32/64 bit)
Linux, Ubuntu 16.04 (32/64 bit)
▸RAM: min. 2 GB for 32 bit, min. 4 GB for 64 bit
▸Min. Intel Core i3, or comparable
▸Min. Intel HD Graphics 3000
▸Free disk space: at least 50 GB
▸Ethernet: Gigabit Ethernet
Item Connection/pins Description
1 M20 USB (reserved)
2 M14, 6-pin Evaluation unit voltage supply,
12/24 V
3 M14, 4-pin Dual discrete alarm output,
0 V / 12 V (reserved)
4 M14, 5-pin Ethernet
Item Connection/pins Description
5 M14, 5-pin Machine-machine interface
(reserved)
6 M18, 10-pin Sensor head
7 M18, 10-pin Sensor head
8 M14, 9-pin Monitor (reserved)
KEEP LENSES CLEAN
SICK
The 3D camera contains no inner parts that the user needs to have
serviced.
System requirements
1
2
Detection volume and 2D ranges
Working
distance
absolute (z)
Measuring
range
(Δx)
Measuring
range
(Δy)
2D image
pixel size
(x x y)
0.5 m 1.73 m
0.77 m 2 mm x 1 mm
1.0 m 3.46 m
1.53 m 4 mm x 3 mm
1.5 m 5.20 m
2.30 m 6 mm x 4 mm
2.0 m 6.93 m
3.07 m 8 mm x 6 mm
3.0 m 10.39 m
4.60 m 13 mm x 8 mm
4.0 m 13.86 m
6.14 m 17 mm x 11 mm
5.0 m 17.32 m
7.67 m 21 mm x 14 mm
10 m 34.64 m
15.35 m 42 mm x 28 mm
15 m 51.96 m 23.02 m 63 mm x 42 mm
20 m 69.28 m 30.69 m 84 mm x 56 mm
40 m 138.56 m
61.39 m 167 mm x 113 mm
Absolute measurement accuracy and repeatability
Working distance
absolute (z)
Measurement
accuracy
Repeatability
up to 2 m < 1% < 10 mm
up to 4 m < 2% < 40 mm
up to 6 m < 3% < 80 mm
up to 8 m < 5% < 140 mm
up to 10 m < 10% < 220 mm
up to 15 m < 25% –
up to 72 m see diagram
–
Δx
Δy
z
Detection volume and 2D ranges
Disparity diagrams
Legend see F “Connections (evaluation unit)
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1
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