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What is RapidSense

1. Value proposition
   If work cell variations are causing downtime for your robot system, RapidSense can help get it moving again. When RapidSense is paired with RapidPlan, unmodeled obstacles can be avoided and goal-directed motions computed at runtime, allowing for process variation and environmental changes to be autonomously managed by the robot.

2. Target use case (High-level)

3. Visual guide/demo (GIFs, videos)

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1. System diagram

2. Relationship with RapidPlan(Create & Control)

   1. incl. references to the manuals

3. System requirements

   1. Supported vision sensors

      1. There will only be Intel RealSense camera support for the Beta release

   2. Aruco tag definition and fabrication/ordering requirements

      1. Aruco pattern needs to be printed 9cm x 9cm size (in the future for larger robot systems, this size may need to be larger)

      2. The pattern needs to be crisp and high contrast white and black

      3. Material surface with Aruco pattern needs to be matte and non-reflective

      4. This needs to be on a reliably rigid flat surface/material (plate) that will not flex during robot motion, but does not have to be so thick for anything load bearing (3mm thick is likely OK for an aluminum 9cm x 9cm tag)

      5. There should be a mounting hole in each corner of the plate for a user to be able to mount it on the robot end effector or in the scene

      6. (2) dowel pin holes should be provided between the mounting holes on at least (2) of the sides of the plate. In the event a user needs to remove the Aruco tag/plate for a reason, it can be easily replaced accurately.

   3. vrd definition

   4. PC spec and OS requirements

Setup

1. Safety Precautions

   Safety Precautions

   1. WARNING: The Realtime Controller is NOT safety-certified during operation with robots. Users are required to exercise caution and follow all safety protocols when using the Realtime

Hardware Installation

1. 1. Controller and its software with physical robots.

      Users must comply with any and all safety standards regarding the use of robotics, automation, and the use of necessary safeguarding. Compliance typically requires performing a risk assessment of each application to determine the needed safety performance and safeguarding.

      The Realtime Controller and its software are not supplied for specific applications.

      The safety of any system incorporating the Realtime Controller and its software is the responsibility of the end user.

Hardware Installation

1. Required hardware

   1. <TODO> Describe what equipment is required for RapidSense.
      i.e.) Here is the list of items in RS1.4
      Realsense D435 (4x)

      1. USB-C to USB-B cable (4x)

      2. Calibration plate

      3. Calibration plate adapter

      4. Mounting hardware

2. Cameras

   1. <TODO>Describe how camera CAD with the field of view (FOV) of the camera visible can be imported into RPC (CAD obtained from sensor provider for now) with “ignore collisions” checked to be able to verify aruco tags could be visible to the camera. A picture here could help

3. Aruco Calibration Tag Mounting

   1. Static mounted

   2. Robot mounted

...

• Start a project

• Alignment?

• currently required user input to run: calibration files and aruco transform

RapidSense HMI

• Layout description

• Hardware Status

  • <TODO>Add description for different monitored states of the cameras, especially when the cameras are detected out of calibration by comparing to the static target in the scene

  • <TODO>Add description for running calibration through the button on the HMI. May need to obtain new screenshots of the latest

Features

• Scene Update
  This feature is used for obstacle detection. This is the main functionality of Beta release

• RapidSense Filters

  How to apply the different filters with their API and what they can do

  • ScanScene (Obstacle Detection) filter

    • <TODO>description of the function and API. Streaming, Snapshot, and Clear RS voxel data modes

• API

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