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IFM O3M150, Software Manual

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IFM O3M150 Software Manual Download Page 119

119

ifm Vision Assistant O3M

UK

13  Firmware OD - object detection

The object detection is a function of the OD firmware (→ „7.1.3 Firmware update“). The object detection 

detects objects and classifies them according to the setting .
The object detection detects two different types of objects:

 

●

Normal objects (no or only little reflection)

 

●

Reflectors (high reflection)

The following applications can be set via a Wizard:

 

●

Guidance of an automated guided vehicle (AGV): 

The distance and the speed between the AGVs are controlled .

 

●

Area monitoring: 

All objects or only reflectors are monitored within a defined zone .

 

●

Collision avoidance: 

  

Information about the speed and the movements of objects is recognised to prevent collisions . If the 

CAN data of the vehicle is provided, the accuracy of the collision avoidance can be improved .

13.1  Object recognition

The application "Object detection" can recognise and classify objects .

The object recognition is divided into three areas:

1: Live image display (→ „10.1 Live image display“)

 

2: Settings: Functions

Summary of Contents for O3M150

Page 1: ...Software Manual ifm Vision Assistant for mobile 2D 3D sensors O3M150 O3M151 O3M160 O3M161 O3M250 O3M251 O3M260 O3M261 706424 03 02 2018 UK ...

Page 2: ...ions 21 6 1 1 2D View 22 6 1 2 2D3D view 26 6 1 3 3D view 29 6 1 4 Slider bar 35 6 2 Recording 36 6 3 Service options 38 7 Device setup 40 7 1 Device 41 7 1 1 Name 41 7 1 2 General settings wizard 41 7 1 3 Firmware update 50 7 1 4 Export settings 51 7 1 5 Import settings 51 7 1 6 Reboot the sensor 52 7 1 7 Online parameter setting 53 7 2 CAN settings 54 7 3 Ethernet 55 8 Device Information 57 9 Ca...

Page 3: ...Variant options of the OD firmware 92 11 4 Variant options of the DI firmware 93 11 4 1 Visualising 3D ROIs as a moving wall 93 11 4 2 Visualisation of 3D ROIs as a projection on the floor 98 11 4 3 Visualisation of 2D ROIs 103 12 DI firmware basic functions 107 12 1 ROI mode 107 12 2 Global settings 108 12 3 Several ROIs 109 12 3 1 Min max values and separation 110 12 3 2 Result type 111 12 3 3 O...

Page 4: ...emory function modules 156 15 7 1 Teach module 157 15 7 2 Example for the Teach module 157 15 7 3 RAM write module 159 15 7 4 RAM read module 159 15 7 5 Example Exponential smoothing filter for RAM write RAM read modules 160 15 7 6 Example Event counter for RAM write RAM read modules 161 15 8 Description of the Arithmetic modules 162 15 8 1 Examples for processing input signals 164 15 9 Descriptio...

Page 5: ... trademarks and company names used are subject to the copyright of the respective companies This device contains maybe modified open source software which is subject to special licensing terms For copyright information and licensing terms please refer to www ifm com int GNU For software subject to the GNU General Public License or the GNU Lesser General Public License the source code can be reques...

Page 6: ... the ifm Vision Assistant 1 1 Symbols used Instructions Reaction result Designation of keys and buttons Name of display text Cross reference Important note Non compliance may result in malfunction or interference Information Supplementary note 1 2 Safety instructions Please read the operating instructions prior to set up of the device Ensure that the device is suitable for your application without...

Page 7: ... Screen min 1024 x 768 pixels 32 bit colour depth The following accessories are required for operation Cable for network connection Ethernet for parameter setting M12 connector RJ45 connector 4 poles e g article no E11898 2 m E12283 5 m Illumination unit Article no O3M950 for O3M15x and O3M25x Article no O3M960 for O3M16x and O3M26x MCI connection cable between sensor and illumination unit article...

Page 8: ...es with strain relief Sensor Illumination unit Sensor Illumination unit Further information about the electrical connection and the correct pin connection Short instructions or operating instructions 3 2 Mounting accessories Depending on the intended mounting location and the type of installation the following mounting accessories are available Description Art no Mounting set U tube u shaped fixtu...

Page 9: ...om the ifm website www ifm com Service Download Copy the Zip file ifmVisionAssistant into an appropriate directory on the PC and unzip Start the ifmVisionAssistant application file The start page of the ifm Vision Assistant opens If the start page does not appear after 5 10 seconds please check if the software requirements are complied with and if all files are properly unzipped ...

Page 10: ...on list of the devices found 4 1 Find sensor yes Recent Connection with the device that has connected itself successfully once before Opens a selection list of the devices which have been connected before 4 2 Recent yes Replay Plays recorded sequences 4 3 Replay no Wiring Display of the wiring of the voltage supply The display is used to simplify the connection during set up 4 4 Wiring no Settings...

Page 11: ...stricted This documentation assumes that the device is connected via both CAN bus and Ethernet The following ports must be open if necessary adjust the settings of the firewall UDP 42000 4 1 1 Direct search Click The ifm Vision Assistant searches for connected devices via the Ethernet connection All devices found are shown in a list for selection If there is a CAN bus connection the CAN settings a...

Page 12: ...notification Description Starts a new search Makes it possible to enter the IP address manually 4 1 2 Manual connection Shows connection settings of the CAN bus such as IP address name of the device and the firmware version Connects the device and continues according to the application data ...

Page 13: ...ce the connection settings can be entered manually via the button Manual connection Click Click on Manual connection The Manual connection window is displayed Select O3M manual connection Enter the IP address of the device standard 192 168 0 69 Click on Connect The IP addresses of device and PC with ifm Vision Assistant must be in the same subnet ...

Page 14: ...n list of the devices that have already been connected Click Ensure that the corresponding device is connected with the PC via Ethernet or available in the network Click on the device in the selection list The ifm Vision Assistant establishes a connection with the device ...

Page 15: ...tant O3M UK 4 3 Replay With this function data that has been recorded can be viewed 6 Monitoring window No connection to a device is needed Click Select the required file dat and click on Open The playback screen appears ...

Page 16: ...layback and shows the next picture Start Continues playback Progress bar Indicates the current position in the recording By clicking on a position in the progress bar playback continues at the corresponding image Opens a window in which a file can be selected View options 6 1 View Options Closes the playback screen and opens the start screen Click on Close to return to the start screen ...

Page 17: ...tage supply of the 5 pole connector Click Selected article O3M Only necessary if a new device has been selected Click on the selection field Article number and select a connection cable from the selection list For the selected cable the wiring of the voltage supply and the CAN bus is shown ...

Page 18: ... Options in the settings window Field Option Description Language English Selection of the available language English is set by default German etc Full screen on Switches between full screen on and window view off Full screen is set by default off With the F11 key you can switch between full screen and window view at any time 4 6 Close Click on to quit the ifm Vision Assistant ...

Page 19: ... areas 1 navigation bar In the navigation bar on the left the required option can be selected 5 1 Navigation bar 2 main area The main area shows the selected option or application 3 Status bar The status bar at the bottom of the screen shows the status information of the device 1 Navigation bar 2 Main area 3 Status bar ...

Page 20: ...ation settings Settings Opens the Settings window 4 5 Settings Disconnect Disconnects the ifm Vision Assistant from the device The ifm Vision Assistant returns to the start screen 5 2 Status bar The status bar at the bottom of the screen gives the following information Availability status Temperature information of the device e g Temperature normal Connection type of the device e g CAN and Etherne...

Page 21: ...device you see the following tabs View options 6 1 View Options Record options 6 2 Recording Service options 6 3 Service options 6 1 View Options Select options Button Name Description 2D view Shows the device data as a 2D visualisation 6 1 1 2D View 2D3D view Shows the device data as 2D 3D visualisation 6 1 2 2D3D view 3D view Shows the device data as a 3D visualisation 6 1 3 3D view The figures ...

Page 22: ...ness Logarithmic Visualises the amplitude values of the 2D view in logarithmic levels of grey only available for the amplitude image Linear Visualises the amplitude values of the 2D view in linear levels of grey only available for the amplitude image The linear view is particularly helpful when setting up the image Rescaling Sets the colour range automatically to an adequate area The settings of t...

Page 23: ...23 ifm Vision Assistant O3M UK Distance image Click to display the distance image Amplitude image Click to display the amplitude image Select the required view via Logarithmic or Linear ...

Page 24: ...ifm Vision Assistant O3M 24 Logarithmic view Linear view ...

Page 25: ...elated to the world coordinate system Amplitude Amplitude of the pixel Distance Distance of the pixel to the device Colour legend Valid pixel Invalid pixel signal too strong or too weak Spatially filtered 3D data 10 11 Measuring range Estimated as ground Pixel detected as disturbed interference can be produced by neighbouring O3Ms Spray fog dust detected Filtered according to distance if the pixel...

Page 26: ...ter Searches for connected compatible video converters Select video converter Connects a compatible video converter 2D rectification Eliminates geometric distortions in the image data Spatially filtered 3D data Shows the spatially filtered 3D data Pixel Shows the distance values per pixel Visible 3D range Highlights the visible 3D range 2D preview Shows the 2D data as an overlay within the 2D3D vi...

Page 27: ...hich 3D data is to be spatially filtered can be configured in chap 10 11 Measuring range Pixel Click to display the distance values per pixel Each pixel contains the distance as a numeric value The colour shade depends on the measured distance of the pixel and the setting of the colour scale 6 1 4 Slider bar ...

Page 28: ...ssistant O3M 28 Visible 3D range Click to activate the visible 3D range The area outside the visible 3D range is visualised in a darker shade 2D preview Click to show the 2D data as an overlay within the 2D3D view ...

Page 29: ...isualises the pixels in the 3D view in relation to the amplitude values in levels of grey brightness Confidence Shows the pixels of the 3D view with the corresponding status from the colour legend Pixel properties previous page Logarithmic Visualises the amplitude values of the 3D view in logarithmic levels of grey only available for the amplitude image Linear Visualises the amplitude values of th...

Page 30: ...urns the 3D level to the yz level The settings of the view e g Logarithmic or Linear only change the calculation and type of visualisation The application itself is not affected by it Distance image Click to display the distance image Visualisation in the 3D image Description Pixel position Space coordinate of the point x y z coordinates Pixel colour Distance x coordinate The colour shade depends ...

Page 31: ... Visualisation in the 3D image Description Pixel position Space coordinate of the point x y z coordinates Pixel colour grey scale Amplitude value The brightness follows the measured amplitude and the setting of the grey scale 6 1 4 Slider bar Black Amplitude value minimum of the set scale White Amplitude value maximum of the set scale ...

Page 32: ... Views in the coordinate system The 3D view can be turned into a preset view in the coordinate system Click to show the rear view The object is shown on the yz level Click to show the top view The object is shown on the xy level ...

Page 33: ...33 ifm Vision Assistant O3M UK Click to show the side view The object is shown on the xz level Visualisation pattern Click to show the 3D view as a pixel cloud ...

Page 34: ...ifm Vision Assistant O3M 34 Click to show the 3D view as a grid Click to show the ascending slopes in the 3D view as a surface model ...

Page 35: ...s are dismissed Upper slider bar With the upper slider bar the colour range for the distance or amplitude image can be roughly set Lower slider bar With the lower slider bar the set colour range can be fine adjusted Colour range The set colour range can be shifted using the left mouse button without changing the size of the range The vertical white lines within the colour range indicate the colour...

Page 36: ...itionally record the CAN data The Save As window opens with a standard storage location and standard file name Standard storage location ifm electronic ifmVisionAssistant capture the exact and complete storage location depends on the Windows version and settings Standard file name yyyy mm dd_hhmmss_O3M1XX_192 168 1 1 dat The file name consists of year month day and the IP address of the device Exa...

Page 37: ... as 01 05 02 00 The recording ends automatically as soon as the set recording time is reached In case the duration is set to infinite the recording is limited by the free memory capacity of the data carrier Click again to manually stop the recording before the set recording duration is reached The sequence is stored and can be played back using the Replay option on the start screen ...

Page 38: ...rview can be displayed The service options contain software and hardware information that can be displayed and stored The error memory and the system overview are used to analyse service requests Error memory export Click on Show error memory Click on Export error memory The error memory is stored as text format txt ...

Page 39: ...m Vision Assistant O3M UK Show system overview Click on Show system overview The System status window appears Click on Export system status to save the system overview Click on X to close the system overview ...

Page 40: ...figurations in the device setup Device 7 1 Device Set the name of the device Execute the assistant for general sensor settings Execute firmware update Import and export settings Reboot the sensor Activate online parameter setting CAN settings 7 2 CAN settings Set the network protocol and the network address of the CAN bus Ethernet 7 3 Ethernet Set the process interface ...

Page 41: ...d applications on the PC Import Saves a copy of the settings and applications that are on the PC to the device Reboot the sensor Reboot sensor Reboots the device 7 1 1 Name The name of the device can be edited at will Click on the input box Enter name Click to save the changes 7 1 2 General settings wizard The General settings wizard adjusts the device to the corresponding application At the begin...

Page 42: ...ifm Vision Assistant O3M 42 Click on Start ...

Page 43: ...ehicle Use the vehicle setting for installation on moving vehicles The moving vehicle setting Click on stationary or moving vehicle The moving vehicle setting requires additional settings Click on Next Stationary setting In the following the general setting stationary is described Button Name Description Ambient temperature Set the frame rate of the device according to the ambient temperature 85 C...

Page 44: ...ibility conditions setting if the visibility conditions are often bad The setting affects the Filter signal quality 10 3 Signal quality filter Spray detection 10 5 Detection of spray fog dust Dusty and foggy environmental conditions require stronger data filtering The Visual conditions setting reduces the device s range Detection of soiling Setting the sensitivity of the soiling detection The sett...

Page 45: ... are transferred via CAN and Ethernet Repetition rate The setting determines the repetition rate of the data A high repetition rate increases the data flow rate The repetition rate of the data depends on the ambient temperature Seite 43 image settings environment The setting affects the Data refresh to CAN Ethernet in relation to the sensor cycle 7 2 CAN settings 7 3 Ethernet Results via Ethernet ...

Page 46: ...eed Setting the speed of the objects The setting affects the Intelligent data averaging 10 9 Intelligent data averaging In case of high object speeds it is recommended to reduce the value of the intelligent data averaging 10 9 Intelligent data averaging Several vehicles If several vehicles with devices move in the working area this may produce measurement errors The Yes setting applies random modu...

Page 47: ...icant environmental influences are to be expected in the application The setting affects the Filter signal quality 10 3 Signal quality filter Noise reduction filter 10 4 Noise reduction filter Visibility conditions Activate the Visibility conditions setting if the visibility conditions are often bad The setting affects the Filter signal quality 10 3 Signal quality filter Spray detection 10 5 Detec...

Page 48: ...the Ethernet setting if the measurement results of the application are transferred via Ethernet Use the CAN Ethernet setting if the measurement results of the application are transferred via CAN and Ethernet Repetition rate The setting determines the repetition rate of the data A high repetition rate increases the data flow rate The repetition rate of the data depends on the ambient temperature Se...

Page 49: ...49 ifm Vision Assistant O3M UK Click on Ready The setting of the device via the assistant General sensor settings is finished ...

Page 50: ...uery is displayed Click on Ok The Open window appears Select the required firmware file fcr Click on Open The firmware is being updated After that the ifm Vision Assistant re establishes the connection to the device After the firmware update the following window appears Start the assistant by clicking on Ok in order to adjust the settings for the corresponding applications Error messages Error mes...

Page 51: ...e As window appears Enter the name and click on Save The settings will be saved to a file with the extension o3m1xxcfg 7 1 5 Import settings With the Import function the settings and applications are imported from the OC to the device Existing settings and applications are overwritten during the import If necessary export the existing settings beforehand Click on Import to start the import of the ...

Page 52: ...t the sensor The device can be rebooted using the Reboot sensor button Click on Reboot the sensor The device reboots The ifm Vision Assistant establishes a new connection with the device If the new connection to the device fails search the device via The ifm Vision Assistant establishes a new connection with the device on the start screen or connect it manually ...

Page 53: ...tile partition of the RAM and are lost e g when the device is rebooted Save the changes permanently by clicking on Save If online parameterisation is deactivated changed parameters are only written after clicking on Save The changes are stored in a non volatile partition of the RAM and will be visible after approx 15 seconds Online parameterisation is deactivated by default Online parameterisation...

Page 54: ...he following refresh rates can be set 1 Each image of the device updates the data via the CAN bus high CAN bus capacity utilisation 2 Every second image of the device refreshes the data via the CAN bus 3 Every third image of the device refreshes the data via the CAN bus 4 Every fourth image of the device refreshes the data via the CAN bus 5 Every fifth image of the device refreshes the data via th...

Page 55: ...pondingly Set further devices as Exposure slave 1 simultaneous if the fields of view of the devices do not overlap Set further devices as Exposure slave 2 time shifted if the fields of view of the devices do not overlap It is possible to synchronise several units on one CAN bus if the following points apply The CAN protocol J1939 is set The frame rate is set to 25 Hz or 33 Hz The Exposure Master h...

Page 56: ...shes the data via Ethernet 3 Every third image of the device refreshes the data via Ethernet 4 Every fourth image of the device refreshes the data via Ethernet 5 Every fifth image of the device refreshes the data via Ethernet low Ethernet capacity utilisation Output pixel data distance amplitude With this switch the pixel data output via Ethernet can either be activated or deactivated Deactivating...

Page 57: ...vice and the device information is shown Field Description Hardware firmware Applied hardware installed firmware version and the application Status Device status Temperature Temperature of the device and the illumination unit Connection The type of connection between the ifm Vision Assistant and the device Voltage Terminal voltage of the device and the illumination unit ...

Page 58: ...ld coordinate system The calibration settings make it possible to freely define the world coordinate system and to adjust the device to it The help options in the calibration settings are adapted to mobile machines Regardless of this the calibration settings can be used for any application The three coordinate axes are X Y and Z The reference point of the 3D coordinate system can be defined at wil...

Page 59: ...nstallation position and angle of the device 1 2 m 2 3 X 2 m 2 5 m 1 2 m 2 3 X 2 m 5 m The image above shows two different mounting positions of the device on a mobile machine In both cases the world coordinate system is defined identically 1 For both mounting positions the internal measured value of the device differs by the mounting position 2 By correctly calibrating the device to the world coo...

Page 60: ...te system is represented with its three axes 1 The coordinate origin is represented by a cross 2 The rectangular pattern on the X Y level represents the ground level grid 1 m The Z axis looks up from the ground level The X axis looks in the machine s direction of travel In the illustration the device s visible range is dark green The visible range of the illumination unit is light green in the ill...

Page 61: ...ve the sensor screen is marked with a dot If none of the pictograms corresponds with the mounted device please chose the pictogram that looks most similar The precise adjustment can be carried out later In this section the reference surface is parallel to the X Y level The position of the reference point is described in chapter 9 3 With the fields X position of sensor and Y position of sensor the ...

Page 62: ... sensor The distance of the device to the reference point on the Y axis is entered in the field Y position of sensor The distance of the device to the reference point on the Z axis is entered in the field Z position of sensor Finally the 3D data is calculated taking into account the entered position of the device The signs for the X Y Z axes depend on the corresponding coordinate direction in the ...

Page 63: ...e sensor e g in fog or dust In order to calculate the emitted signals correctly into 3D coordinates the position of the illumination unit must be adjusted in relation to the device The illumination unit shines in the direction of the measuring range The visible range of the illumination unit is indicated light green in the ifm Vision Assistant Usually the device and the illumination unit are mount...

Page 64: ... orientation For example it is possible to transform the pixels of the road level irrespectively of the pitch angle of the device so that the pixels are parallel to the X axis For the transformation the device needs information about its orientation in relation to the world coordinate system Al in all three angles can be set The angles are indicated as follows 1 angle of pitch 2 angle of rotation ...

Page 65: ... above the arrows shows the device s direction of view In the input box 2 the angle of rotation can be set precisely The angle of roll is determined and corrected automatically if the automatic calibration function is later used 9 8 Automatic calibration 9 7 2 Expert mode The switch 1 is used to activate the expert mode In the expert mode the rotation of the device is entered separately for the X ...

Page 66: ...rated automatically in the world coordinate system Especially setting the orientation angle of the device is simplified by the automatic calibration For the automatic calibration the following conditions must be met 1 The origin of the world coordinate system must be placed on a plane 2 Plane must be adjusted so that it covers a large part of the visible 3D image panel The automatic calibration is...

Page 67: ...owing status information and settings are displayed After the automatic calibration is started the status information is displayed under 1 The setting bar 2 restricts the area along the X and Y axis The button Start calibration 3 starts the automatic calibration After the start a blue transparent cube is shown in the 3D view The cube shows the search zone for the reference level in three dimension...

Page 68: ... following figure the search zone has been limited The interfering objects are not considered The automatic calibration can now be restarted During the automatic calibration the parameters are written to the device This can take up to 15 seconds The progress of the automatic calibration is shown next to the button The 3D view shows how well the automatic calibration works ...

Page 69: ...ion of the device are not accurate enough The level pixels cannot be detected in the blue search zone Correct the following values sensor orientation Z position of the sensor angle of pitch The search zone is too small Remove interfering objects during the automatic calibration Set a larger search zone There is no sufficiently large plane in the device s field of view Rotate the device to carry ou...

Page 70: ...mage settings In the image settings the image of the device can be changed with different filters and parameters The image settings are divided into three areas 1 Live image display 10 1 Live image display 2 Image settings 3 Functions ...

Page 71: ...ayed simultaneously Distance The pixels are shown in colour depending on the distance value Amplitude The pixels are shown in shades of grey depending on the amplitude value Confidence The pixels are displayed in accordance with the legend of the pixel properties In the view options it is possible to change between a 2D and 3D view The view options are described in chapter 6 1 View Options ...

Page 72: ...e In the pixel properties the legend of the pixel status indication is also explained In the pixel status indication a pixel can have one of the following statuses Pixel status Description Pixel valid Pixel invalid e g signal too strong or too weak Pixel is within the range of spatially filtered data 10 11 Measuring range Pixel estimated as ground pixel Pixel interference detected e g caused by ad...

Page 73: ...tivity With this setting there are not many uncertainties caused by fog water or ice Possible uncertainties due to wrongly interpreted pixels are tolerable since the security staff can inspect the situation 10 3 Signal quality filter The Signal quality filter can filter pixels of dark objects This reduces the number of incorrect measurements It does not matter how far the pixels are away Typical a...

Page 74: ...s that are caused by movements that are too fast Depending on the setting weak medium or strong noise is filtered The higher the filter is set the lower is the decision threshold of the filter Test the ideal filter setting under difficult conditions strong sunlight wet surfaces Do not use the noise reduction filter for the following applications counting a specific number of valid pixels following...

Page 75: ...light wet surfaces When detecting reflectors the distance between the device and the illumination must be as short as possible Otherwise the reflectors will not be properly recognised In narrow and closed locations spray fog dust can only be recognised with restrictions The pixels recognised as spray fog or dust are invalid pixel properties set to 0 and cannot be used for applications If more than...

Page 76: ...is provided as a percentage value via CAN and can be evaluated in applications Test the ideal filter setting under difficult conditions strong sunlight wet surfaces 10 6 1 Setting the sensitivity Depending on the setting the filter works with low medium or high sensitivity The following table shows the sensitivity with which soiling is recognised most reliably Dirt Low sensitivity Medium sensitivi...

Page 77: ...ease remove using a cleaning agent Due to the hysteresis it takes a few seconds after the soiling is removed before Function available appears in the status bar 10 7 Frame rate The frame rate of the device i e the frequency with which the images are captured can be set The frame rate is set as Hertz Hz frequency The default value is 50 Hz A low frame rate has several advantages low bus load low el...

Page 78: ...ong the following three frequency sets with fixed default modulation frequencies one frequency set with a random choice of modulation frequencies Test the ideal filter setting under difficult conditions strong sunlight wet surfaces 10 8 1 Fixed modulation frequencies The fixed frequency sets consist of three modulation frequencies which cannot be changed f6 f12 f9 f4 f10 f8 f7 f13 f10 1 2 3 The fi...

Page 79: ... f2 f13 f12 The frequency set with random selection of modulation frequencies is suited for applications with the following properties mobile use of the devices AGV drone vehicles etc more than three devices in the field of view When using the random modulation frequencies interferences are possible The interferences are recognised and the affected pixels are marked as invalid Use the fixed modula...

Page 80: ... Improve the recognition of objects with low reflectivity The set value indicates the number of raw data frames that are to be used for the calculation of the average value The intelligent data averaging may only be used with fixed modulation frequencies 10 8 1 Fixed modulation frequencies The calculation of the average value causes a motion blur effect Select the low setting if the application ha...

Page 81: ... data averaging can make invalid pixels valid again 10 9 2 Example of a signal noise reduction In the following you will find an example of how the intelligent data averaging reduces the signal noise Example Description The device is oriented towards a car park with cars The distances between the device and cars are indicated by means of the colours 6 Monitoring window 1st row of cars in red 2nd r...

Page 82: ...n The device is oriented towards a car park with cars The distances between the device and cars are indicated by means of the colours 6 Monitoring window 1st row of cars in red 2nd row of cars in yellow 3rd row of cars in blue Monitoring screen The calculation of the average value is switched off Monitoring screen Calculation of the average value with low sensitivity Result The number of valid pix...

Page 83: ...ve tape etc How much light an object reflects can be verified in the monitoring screen with the amplitude image 6 Monitoring window Do not use the reflector threshold value filter to track bright objects in the infrared range Depending on the setting the filter works with a low medium or very high threshold level The lower the threshold level the more pixels are recognised and filtered as a reflec...

Page 84: ...ng range is set only the data within the min max values are used for further calculation The data outside the min max values is abandoned and is available for further functions Setting the measuring range Enter min max values for the coordinate axes z y x The measuring range can be displayed and hidden in the monitoring window 6 Monitoring window ...

Page 85: ...range Setting exclusion areas Enter min max values for the coordinate axes z y x The exclusion areas are displayed in the monitoring window Set the exclusion area a bit larger than the objects to be excluded Thereby measuring errors on object edges caused by mixed pixels are excluded by further calculations If the 3D pixel data is transmitted via Ethernet the spatial filtering is marked in the con...

Page 86: ...O3M2xx displays a 2D image of the application With the 2D overlay the output of the 2D image can be set Additionally the following elements can be shown as an overlay in the 2D image Graphics logos warning symbols etc Text system status distance information etc Vectors ellipses polygons polylines Each element has its own ID The visibility of the elements can be adjusted in many ways The 2D overlay...

Page 87: ... the 2D overlay which indicates the 3D measuring range The angle of aperture of the 3D measuring range is smaller on the vertical axis Due to perspective distortions the display of the 3D measuring range is merely an indicator 11 2 Pallet The pallet is used to add texts vectors ellipses polygons polylines and images to the 2D overlay The pallet contains 4 buttons The Add text button adds a configu...

Page 88: ...onditional codes The text replacement codes start with a By entering the in the text field a selection list opens that features the available text replacement codes Several text replacement codes additionally require entering an ID e g the ROI group number The functions of the selected text replacement code are shown by clicking The available text replacement codes depend on the installed firmware...

Page 89: ...D overlay Add ellipse After clicking on the button the mouse pointer changes into a cross hair After clicking on the button the mouse pointer changes into a cross hair Add polygon After clicking on the button the mouse pointer changes into a cross hair Then the polygon can be drawn in the Preview of the 2D overlay by holding the mouse button Drawing the polygon can be quit by double clicking the m...

Page 90: ... from the device After clicking on the graphic in the selection the mouse pointer turns into a cross hair Then the graphic in the 2D overlay is shown in the Preview of the 2D overlay The graphics can be edited in the Preview of the 2D overlay move the graphic by holding the mouse button scale the graphic by clicking on the corner dots The graphic is always scaled at a fixed aspect ratio The graphi...

Page 91: ...vice 11 2 4 Live ticker The live ticker shows at a glance whether the video image is active If the video image is active the live ticker is turning in the top right corner in the Preview of the 2D overlay 1 The live ticker can be edited in the Preview of the 2D overlay Move the live ticker by holding the mouse button By clicking on the live ticker can be edited and the following window opens The I...

Page 92: ...Firmware update The following options require the OD firmware object detection In the field Max drawn objects the maximum number of normal objects and reflector objects which are simultaneously indicated with the 2D overlay can be entered If more objects are recognised as are specified in the Max drawn objects field the objects at the shortest distance will be indicated with priority If Display re...

Page 93: ...olour mode Colour map 2D ROI 11 4 3 Visualisation of 2D ROIs 11 4 1 Visualising 3D ROIs as a moving wall The ROI visualisation type 3D moving wall shows the provision of the ROI groups in the x y and z axis length width and hight as a coloured overlay The coloured overlay is visualised as a wall Output refers to the measuring result of the ROI group 12 2 Global settings The ROI visualisation type ...

Page 94: ... Y Z level and moves with the reference value X Y The moving wall is projected in the X Z level and moves with the reference value Y Z The moving wall is projected in the Y X level and moves with the reference value Z The reference value additionally defines which ROI group output is used as basis for the colouring of the moving wall The Map type defines the type of the colour gradient You can cho...

Page 95: ...The moving wall is projected in the Y Z level and moves with the reference value X Y The moving wall is projected in the X Z level and moves with the reference value Y Z The moving wall is projected in the Y X level and moves with the reference value Z The colour switch threshold defines the threshold for the colour change The threshold value is based on the set reference value The colour directio...

Page 96: ...lour mode The 3D ROI frame is set to black The reference value defines with which ROI group output the moving wall shifts The following reference values can be selected X The moving wall is projected in the Y Z level and moves with the reference value X Y The moving wall is projected in the X Z level and moves with the reference value Y Z The moving wall is projected in the Y X level and moves wit...

Page 97: ...nce values can be selected X The moving wall is projected in the Y Z level and moves with the reference value X Y The moving wall is projected in the X Z level and moves with the reference value Y Z The moving wall is projected in the Y X level and moves with the reference value Z The fixed colour determines the defined colour for the moving wall The the setting of the colour of the moving wall is...

Page 98: ...I groups is visualised as a coloured overlay on the floor and the X values as a text Colour map is set as colour mode The moving reference line is set to white The output of the ROI group can additionally be shown as text In text visualisation ROI results the control fields can be activated X value Y value Z value The text fields can overlap if several ROI groups are provided at the same time In t...

Page 99: ...provision of the ROI group is used as basis for the projection on the floor The Map type defines the type of the colour gradient You can choose among the following Colour map 1 Colour map 1 mirrored Colour map 2 Colour map 2 mirrored A start and end value can be set Output of the ROI group start value The colour of the start value is used Output of the ROI group end value The colour of the end val...

Page 100: ...value Y Z The projection on the floor is projected in the Y X level and moves with the reference value Z The colour switch threshold defines the threshold for the colour change The threshold value is based on the set reference value The colour direction determines what is to happen when the threshold is exceeded or not reached Change from read to green green to read The moving reference line shows...

Page 101: ...selected X The moving reference line is projected in the Y Z level and moves with the reference value X Y The projection on the floor is projected in the X Z level and moves with the reference value Y Z The projection on the floor is projected in the Y X level and moves with the reference value Z The reference value additionally defines which provision of the ROI group is used as basis for the pro...

Page 102: ...the X Z level and moves with the reference value Y Z The projection on the floor is projected in the Y X level and moves with the reference value Z The fixed colour determines the defined colour for the projection on the floor The setting of the colour of the projection on the floor is fixed and does not change The moving reference line shows the output of the ROI groups graphically as a line in t...

Page 103: ...nce value is set to X The 3D ROI frame is set to black The output of the ROI group can additionally be shown as text In text visualisation ROI results the control fields can be activated X value Y value Z value The text fields can overlap if several ROI groups are provided at the same time In the colour mode list the behaviour of the colours of the colour overlay can be set The following colour mo...

Page 104: ... You can choose among the following Colour map 1 Colour map 1 mirrored Colour map 2 Colour map 2 mirrored A start and end value can be set Output of the ROI group start value The colour of the start value is used Output of the ROI group end value The colour of the end values is applied The preview graphically shows the set colour map in combination with the start and end value The 2D ROI frame is ...

Page 105: ...wing reference values can be selected X Y Z The colour switch threshold defines the threshold for the colour change The threshold value is based on the set reference value The colour direction determines what is to happen when the threshold is exceeded or not reached Change from read to green green to read The 2D ROI frame is configurable By activating the control field the 2D ROI frame is shown B...

Page 106: ...correct if a logic is used that you have defined yourself The reference value defines which output of the ROI groups is used as a basis for the colouring of the overlay The following reference values can be selected X Y Z The colour fields Color when output off and Color when output on determine how the projection on the floor is visualised for the 2 possible conditions The 2D ROI frame is configu...

Page 107: ...es of the groups can be set ROIs are image zones and contain the pixels to be processed An ROI or several ROIs are grouped together The pixels contained in the groups are used together for calculations The programming manual Basic functions contains detailed information about the ROIs and groups The basic functions are divided into three areas 1 Live image display 10 1 Live image display 2 Setting...

Page 108: ...s The following settings are not available The separate programming manual basic functions contains further information about which ROI mode is appropriate for which application 12 2 Global settings With the Global settings the output of the ROI groups can be set Output signifies the measuring result per ROI group The following trigger sources can be set xyz ampl the three coordinate axes and the ...

Page 109: ...and separation 2 With Result type the result type for the pixels of the ROI group can be set 12 3 2 Result type 3 With Output values the properties of the result type can be set The term Output value changes according to the set result type 12 3 3 Output value 4 With Reference value for min max the output value is limited by only providing certain values in relation to the reference value 12 3 4 R...

Page 110: ...ROI grid The min max values for the x y and z axis indicate the position of the grid in the world coordinate system The three axes are marked in red in the figure above The origin of the coordinate system is marked with a white cross The grid of the level has a division of 1 m The x y and z division separates the grid into ROIs ...

Page 111: ...d with Max y z The figure on the left shows the result type Max with a 3D grid made of ROIs The result is marked with Mean value y z The figure on the left shows the result type mean value with a 3D grid made of ROIs The result is marked with Percentile y z The figure on the left shows the result type Percentile with a 3D grid made of ROIs P1 90 is marked with 30 pixels y z The figure on the left ...

Page 112: ... be provided Absolute min 2nd lowest 3rd lowest 4th lowest 5th lowest Result type max The following output values can be provided Absolute max 2nd highest 3rd highest 4th highest 5th highest Result type average value for the result type average value Avg the minimum number of valid pixels can be set which are necessary for the average value output ...

Page 113: ...acing two superimposable ROIs with different percentile values 25 and 75 the pixel dispersion can be estimated outliners can be detected By clicking on the arrow on the right next to the percentile value a list with typical values opens Use the Percentile result type only if the object of interest consists of more than one pixel x 1 m 0 m 2 m 3 m y Exemplary applications for the result type percen...

Page 114: ...d N Number of the sets to be expected in the example above Set number of walls 2 Pd Intermediate values Pn Percentile values In the first step the 100 are divided by the number of sets Pd 100 2 50 In the second step Pd is divided in half and the result to Pd is added or subtracted P1 50 25 75 P2 50 25 25 The percentile values are 25 and 75 ...

Page 115: ... min Set output value absolute min Set reference value for min max x The values of a pixel whose x value is minimal is provided Example Set result type min Set output value absolute min Set reference value for min max independent The minimum values are provided without any assignation to the pixel Example Set result type min Set output value absolute min Set reference value for min max y One pixel...

Page 116: ...result type min Set output value absolute min Set reference value for min max z The pixel x2 y2 z2 A2 is provided Set result type min Set output value absolute min Set reference value for min max amplitude The pixel x3 y3 z3 A3 is provided Set result type min Set output value absolute min Set reference value for min max independent The value x1 y z2 A3 is provided The y value is not shown in the d...

Page 117: ...undled in groups For each ROI group the following settings can be defined With Result type the result type for the pixels of the ROI group can be set 12 3 2 Result type With Output values the properties of the result type can be set The term Output value changes according to the set result type 12 3 3 Output value With Reference value for min max the output value is limited by only providing certa...

Page 118: ...set up via the x y and z values in the world coordinate system The volume of interest within the coordinate axes is used for the ROI The Add button creates a new ROI The x y and z values of the new ROI are entered in the world coordinate system With the left mouse button an ROI can be selected The selected ROI is highlighted light grey The Shift button shifts the ROI to a new or existing ROI group...

Page 119: ...Guidance of an automated guided vehicle AGV The distance and the speed between the AGVs are controlled Area monitoring All objects or only reflectors are monitored within a defined zone Collision avoidance Information about the speed and the movements of objects is recognised to prevent collisions If the CAN data of the vehicle is provided the accuracy of the collision avoidance can be improved 13...

Page 120: ...normal objects are not classified With the Spatial filter for object generation the data that is used for the detection of normal objects can be limited If a minimum and maximum height is set only the data within the min max values is used for the detection of objects The data outside the min max values is abandoned and is available for further functions The setting only has an effect on normal ob...

Page 121: ...collision avoidance can be set For the collision avoidance one of the following modes can be selected Disabled The collision avoidance is deactivated Intelligent The collision avoidance uses the movement related information of the objects and the vehicle 13 2 1 The intelligent collision avoidance mode Intelligent with side collision The collision avoidance uses the movement related information of ...

Page 122: ...ehicle motion display the movement related information of the vehicle provided via the CAN bus In the list the movement related information can be selected that is to be used for the collision avoidance Speed and vehicle yaw rate The vehicle yaw rate indicates the steering angle This movement related information is not provided by every vehicle via CAN bus Speed The speed is provided by each vehic...

Page 123: ...sponse time 1 10 s The estimated response time 2 2 s then actuates automatic braking if the vehicle driver does not respond With estimated response time 1 the sum of the driver s response time and the deceleration of the vehicle can be set Automatic brakes have a short response time The zone in which collisions in front of the vehicle are recognised adjusts itself dynamically to the speed and driv...

Page 124: ...w rate is set in the CAN movement related information The reference point must be on the ground in the middle of the device if Speed is set in the CAN data on vehicle motion or the collision avoidance mode zone based is set With Xmin vehicle rear and Xmax vehicle front the length of the vehicle can be set The settings are relative to the reference point With Ymin vehicle right side and Ymax vehicl...

Page 125: ...hicle provided that the collisions are in the field of view of the device and at the vehicle rear or front Only use this mode if collisions on the vehicle sides are possible the vehicle can turn very dynamically vehicle with two controlled axles or steering axle with wide steering angle For most applications the collision avoidance mode intelligent is recommended Further information about the inte...

Page 126: ...eated as critical The second zone has medium priority orange colour in the screenshot Objects in the second zone are treated as less critical The third zone has a low priority yellow colour in the screenshot Objects in the third zone are treated with a lower priority The Intelligent collision avoidance mode considers collisions at the vehicle rear or front Lateral vehicle collisions are ignored Th...

Page 127: ...ion of the second zone can be set The second zone has medium priority orange colour in the screenshot Objects in the second zone are treated as less critical The settings are relative to the reference point The reference point is in the middle of the device With Size of zone 3 the size and position of the third zone can be set The third zone has a low priority yellow colour in the screenshot Objec...

Page 128: ...w sensitive the reactions of the collision avoidance are supposed to be low minimum detection medium medium detection high maximum detection The sensitivity depends on the application The sensitivity medium is recommended for most applications With inactive time after predicted crash you can set a waiting time which begins after a recognised collision Within the set time no collisions are recognis...

Page 129: ...rection If the recognised line is within the set parameter the driving direction is readjusted accordingly The line guidance function is typically used in agriculture with the device mounted to an agricultural machine The device faces the driving direction recognises the driving lane and keeps the agricultural machine within the lane The line guidance is divided into three areas 1 Live image displ...

Page 130: ... the figure the red lines are filtered The green line is within the angle set to 20 and will not be filtered 14 2 3D line structure The filter 3D line structure filters the data on the basis of the y and z axis The data outside the set area is filtered The setting of the filter 3D line structure is visualised graphically With Min height 3D line structure the minimum height of the filter can be set...

Page 131: ... 14 3 Automatic ground plane detection The switch is used to activate or deactivate the automatic ground plane recognition The automatic ground plane detection corrects the position values of the device in real time especially the pitch angle the roll angle and the height The ground in the visible range of the device is used as basis The automatic ground plane detection is used for line structures...

Page 132: ...ge are ignored In the following figure the set search range is highlighted in yellow x y Min in x direction driving direc tion Max in x direction driving direc tion Minimum in y direction left Maximum in y direction right In the figure the red lines are filtered The green line is within the set search range and is further processed Restricting the search for line structures to one search range red...

Page 133: ...nition Depending on the set frame rate the result of the line recognition is provided nearly in real time 10 7 Frame rate High frame rates lead to fast responding changes of the line recognition results The fast response of the behaviour may cause problems during applications such as steering vehicles With the low pass filter the result of the line recognition is smoothed By doing so abrupt change...

Page 134: ...t is provided in the format 1 km With steering angle output computation point and the speed of the vehicle a distance is set at which the vehicle is supposed to intersect the projection of the line direction With Min x for steering computation and Max x for steering computation the distance can be limited The higher the value steering angle output computation point the greater the damping of the v...

Page 135: ...1 16 16 unsigned 0 00390625 0 0 251 km h Current vehicle speed positive value for forward negative value for backward calculated from the mean value of the rotational speed of an axle The current speed is influenced by the slip and filtered through a frequency range of 5 to 20 Hz Direction indicator TCO1 30 2 unsigned 1 0 0 3 Direction of the vehicle Yaw rate VDC2 24 16 unsigned 0 00012207 3 92 3 ...

Page 136: ...nterpreted as numerical values This allows Boolean numerical values after digitalisation or from a digital input to be used in arithmetic modules and interpreted as 0 false or 1 true The signal lines can connect single values and vectors of values The connections are set via the input modules For example distance results x of a maximum of 64 ROI groups can be compared with a threshold value Numeri...

Page 137: ...e information area the logic status is displayed The status of the logic primarily indicates the memory usage on the device The number of outputs used simultaneously is limited An error message appears if modules with further outputs are placed and the capacity is exceeded Selection area In the selection area all input signals operators and outputs are listed Overview area In the overview area a s...

Page 138: ...ouse button down to drag drop the module at the requested position The module is placed in the main area The module can be moved to any position in the main area using drag drop Each module has at least one pin to connect further modules The number of outputs used simultaneously is limited An error message appears if modules with further outputs are placed and the capacity is exceeded 15 2 3 Delet...

Page 139: ...he output value In the Basic function module the output value sets the value to be filtered The Index input field is displayed if a value is set in the Value list which belongs to a vector a vector contains several values The input field Index provides access to single results of the vector for example the results of certain ROI groups Several values and value ranges can be entered in the Index in...

Page 140: ... Assistant O3M 140 several values of the vector z values of the ROI groups 2 5 8 Range of values amplitude values of the ROI groups 3 7 Combination validity of the binary values of the ROI groups 1 4 10 13 16 32 ...

Page 141: ... to the properties of the modules when assigning the signals data types units of measurement vector quantities A red connecting line is displayed between the pin and the mouse pointer Move the mouse pointer to the green pin of the module When the connecting line turns green release the mouse button Successful connections between modules are represented by purple connecting lines When moving module...

Page 142: ... CAN input signals module can receive up to 14 binary input values 1 bit dynamically across the CAN interface The CAN interface is described in a separate CAN document The Digital CAN input signals module has the following setting Setting Data type Description Index Binary Vector with 14 values address range from 0 13 15 3 2 Analogue CAN input signals module The Analogue CAN input signals module c...

Page 143: ...range Description of the modules used in the example Module number Module Description 1 Basic function The x value is filtered out of ROI group 1 2 Analogue CAN input signals The CAN input values from the controller are processed at analogue input 1 Previously the controller has scaled the values to the range 0 1 3 Fixed value The fixed value 10 defines the maximum warning distance in metres 4 MUL...

Page 144: ...ngle of rotation of the device around the x axis rad Sensor angle ROT Y Numerical Single value no index The angle of rotation of the device around the y axis rad Sensor angle ROT Z Numerical Single value no index The angle of rotation of the device around the z axis rad Sensor position X Numerical Single value no index Distance of the device from the origin of the defined world coordinates on the ...

Page 145: ...ilabilities can only be provided when the corresponding filter is active Sensor contamination Numerical Single value no index Contamination of the front pane of the device is provided 0 Front pane not contaminated 0 1 Front pane partly contaminated 1 Front pane completely contaminated Frame counter Numerical Single value no index The system cycles since the last reset or restart are provided The d...

Page 146: ... functions Depending on the setting the value is the minimum maximum or average of all values Alternatively the value can be assigned to the minimum or maximum of x y or z For undefined ROI groups or ROI groups without valid measurements the value 0 is provided y value Numerical Index corresponds to ROI group number vector with 64 values address range from 1 64 The current y value in m is provided...

Page 147: ...s provided distance For each ROI group an x value is provided The assignment of the value is set in the basic functions 12 DI firmware basic functions Depending on the setting the value is the minimum maximum or average of all values Alternatively the value can be assigned to the minimum or maximum of x y or z For undefined ROI groups or ROI groups without valid measurements the value 0 is provide...

Page 148: ...ue is filtered out 4 Analogue output The maximum z value is returned via analogue output 0 5 Analogue output The x value associated with the maximum z value is provided via analogue output 1 Table of input values ROI group index z value height 1 0 05 m 2 0 02 m 3 0 25 m 4 0 18 m 5 0 07 m 6 0 02 m 7 0 09 m 8 0 16 m Result of the Maximum value module on analogue output 0 ROI group index z value heig...

Page 149: ...ist vector with 20 values address range from 1 20 The acceleration of the object along the z axis of the world coordinate system is provided This value is the relative acceleration between device and object m s The value along the z axis is only available when reflector objects are used For normal objects this value is always 0 zero Object age 1 20 Numerical Index from object list vector with 20 v...

Page 150: ... point of the object in the world coordinate system is provided With reflector objects this value corresponds to the minimum x value In the case of normal objects this is the first corner point with reference to the background model also allows oblique objects Object x2 1 20 Numerical Index from object list vector with 20 values address range from 1 20 The x coordinate of the second point of the o...

Page 151: ...ed time to collision s Numerical Single value no index The remaining time to collision s is provided calculated from vehicle and object speed If there is no risk of collision the value 1 is provided Attention collision Numerical Single value no index The status of the time based collision prediction is provided 2 time based collision prediction not active 1 time based collision prediction not avai...

Page 152: ...ject list vector with 20 values address range from 1 20 The age of the object is provided in measuring cycles The value indicates the number of measurement cycles for which this object has already been recorded and tracked measurement cycle Object distance to vehicle 1 20 Numerical Index from object list vector with 20 values address range from 1 20 The minimum distance between the defined vehicle...

Page 153: ...th reflector objects this value corresponds to the minimum x value In the case of normal objects this is the second corner point with reference to the background model also allows oblique objects Object y1 1 20 Numerical Index from object list vector with 20 values address range from 1 20 The y coordinate of the first point of the object in the world coordinate system is provided With reflector ob...

Page 154: ...ground level is provided heap like e g swath The value is only available if swath detection is active 14 3 Automatic ground plane detection Height line structure valid 1 8 Binary Vector with 8 values address range from 1 8 The availability of Height line structure 1 8 is provided 0 height line structure 1 8 not available 1 height line structure 1 8 available Width line structure 1 8 Numerical Vect...

Page 155: ...es using the index An index is assigned to each signal at input in1 of the module The number of values at the input is always identical to the number of values at the output The module addresses the values using indices determined within the logic dynamic addressing This is possible because internally an index is added to each value The following values have no index fixed values e g defined with ...

Page 156: ...s address range from 1 8 The availability of Height offset line structure 1 8 is provided 0 height offset line structure 1 8 not available 1 height offset line structure 1 8 available Offset 1 8 Numerical Vector with 8 values address range from 1 8 The offset between the detected line and the x axis at the position of the reference point is provided The reference point can be configured 9 3 Refere...

Page 157: ...ultiple indexes simultaneously vectors If only a start index is specified then the following indices are filled up to the vector size 15 7 2 Example for the Teach module The device is mounted on the mast of a vertical drilling rig and facing vertically downward There are 8 ROI groups set up to monitor the area around the drill hole The output of the ROI groups is set to the average z value Descrip...

Page 158: ...ght 1 0 05 m 2 0 02 m 3 0 25 m 4 0 18 m 5 0 07 m 6 0 02 m 7 0 09 m 8 0 16 m Memory contents after teach signal via CAN ROI group index Value 1 0 05 m 2 0 02 m 3 0 25 m 4 0 18 m 5 0 07 m 6 0 02 m 7 0 09 m 8 0 16 m Current input values ROI group index z value height Validity 1 0 03 m 1 2 0 m 0 3 0 11 m 1 4 0 11 m 1 5 0 13 m 1 6 0 02 m 1 7 0 07 m 1 8 0 18 m 1 Result of Approx equal module Index Calcu...

Page 159: ...rmation is kept and information at the Value input is ignored If the Condition input is not connected the input is internally set to 1 Thus the stored values are overwritten in each cycle The RAM write module has the following setting Setting Data type Description Index Numerical You can use single indices or multiple indexes simultaneously vectors If only a start index is specified then the follo...

Page 160: ... in the example Module number Module Description 1 RAM read The value ݕ ௧ כ ൌ ܽ ݕ ௧ ሺͳ െ ߙሻ ݕ ௧ିଵ כ is stored in the module and is output 2 Fixed value The fixed value 1 is defined as part of the above formula 3 Fixed value The fixed value 0 3 is defined as the smoothing value ݕ ௧ כ ൌ ܽ ݕ ௧ ሺͳ െ ߙሻ ݕ ௧ିଵ כ 4 DIFF MULT ADD The 4 components calculate the exponential smoothing according to the above ...

Page 161: ...ference value a 0 is output area not free This corresponds to the behaviour of the vertical drilling rig 15 7 2 Example for the Teach module 3 Fixed value The fixed value 1 is defined 4 DIFF The difference between the previous and current cycle is established At the transition from Area free to Area not free a 1 is output falling edge of the binary signal In all other cases a 0 or 1 is output 5 Di...

Page 162: ...e binary values 1 and 0 are treated as numerical values Input in3 is interpreted as 1 if it is not used How the module processes vectors and single values at the inputs is illustrated in an example 15 8 1 Examples for processing input signals DIV 3 inputs numerical single values vectors 1 output numerical single values vectors depending on inputs The DIV module divides the signals present at the i...

Page 163: ... The Maximum value module provides the maximum value of the input signals If vectors are present at both inputs the maximum of each of the individual elements of the vectors is determined A vector is then sent to the output The size of the vector at the output corresponds to size of the vectors at the input If there is a vector at one input and a single value at the other input the maximum is dete...

Page 164: ... the modules used in the example Module number Module Description 1 Basic function The x values are filtered out of ROI groups 1 4 The ROI groups contain the following x values 1 3 25 m 2 3 32 m 3 3 19 m 4 3 37 m 2 Basic function The x values are filtered out of ROI groups 5 8 The ROI groups contain the following values 5 5 07 m 6 4 98 m 7 5 12 m 8 5 02 m 3 ADD The respective x values of the vecto...

Page 165: ...s used in the example Module number Module Description 1 Basic function The x values are filtered out of ROI groups 1 4 The ROI groups contain the following x values 1 3 25 m 2 3 32 m 3 3 19 m 4 3 37 m 2 Basic function The x values are filtered out of ROI groups 5 7 The ROI groups contain the following values 5 5 07 m 6 4 98 m 7 5 12 m 3 ADD The respective x values of the vectors are added 4 Analo...

Page 166: ...ption 1 Basic function The x values are filtered out of ROI groups 1 8 The ROI groups contain the following x values 1 3 25 m 2 3 32 m 3 3 19 m 4 3 37 m 5 5 07 m 6 4 98 m 7 5 12 m 8 5 02 m 2 Fixed value The fixed value 2 5 is defined 3 ADD The x values of the vector are added to the fixed value 4 Analogue output The following vector is provided at analogue output 1 1 ROI 1 3 25 m 2 5 m 5 75 m 2 RO...

Page 167: ... inputs numerical single values or vectors 1 output binary single values or vectors depending on inputs The signals at the inputs are compared according to the following scheme if in1 in2 then out1 1 if in1 in2 then out1 0 Equal 2 inputs numerical single values or vectors 1 output binary single values or vectors depending on inputs The signals at the inputs are compared according to the following ...

Page 168: ...e inputs are 1 a 1 is provided at output out1 Input in3 is interpreted as 1 if it is not used OR 3 inputs binary single values or vectors 1 output binary single values or vectors depending on inputs The OR module creates an OR relation between the input signals If at least one of the signals at the inputs is 1 a 1 is provided at output out1 Input in3 is interpreted as 0 if it is not used XOR 3 inp...

Page 169: ...ndition input should always be used This ensures that only valid values are used for determining the smallest value The size of the binary vector at the Condition input must correspond to the size of the numeric vector at the in1 input The validity can be queried with the following modules Firmware DI Basic function module Validity setting Firmware OD Object detection module Object ID 1 20 setting...

Page 170: ...ogue output 0 15 12 Description of the Output modules The Output selection area displays functions for outputting digital and analogue signals The following modules are available Digital output Analogue output 15 12 1 Digital output module The Digital output module transfers the binary results from the logic editor to the connected peripherals A maximum of 100 binary outputs are available The in1 ...

Page 171: ...le 36 ROI groups are checked against a threshold value The status is to be displayed in the 2D overlay based on the results of the digital output using colour representation To achieve this the indices of the Basic function and Digital output modules must be identical Description of the modules used in the example Module number Module Description 1 Basic function The x values are filtered out 2 Fi...

Page 172: ...tandard programming regardless of the functions of the device The bandwidth of the CAN interface is limited Only the analogue outputs 0 5 can be transferred via the CAN interface Internal for configuring the 2D overlay 11 2D overlay Output binary results via text replacement within the 2D overlay 11 2 1 Add text The Analogue output module has the following setting Setting Data type Description Ind...

Page 173: ...of ROI group 1 2 Fixed value The fixed value 0 determines the start value for scaling 3 Fixed value The fixed value 10 determines the end value for scaling 4 Scale The x values are set to the control range 0 10 m Example Distance x m 12 32 10 76 8 34 5 19 4 32 1 84 0 08 3 97 8 75 10 12 Scaled distance 12 bit 1 1 0 834 0 519 0 432 0 184 0 0 397 0 875 1 Analogue output mA 20 20 16 68 10 8 64 3 68 0 ...

Page 174: ...isplayed To keep the bus load low a maximum of 3 CAN messages size 64 bits are sent The switches each activate one of the CAN messages Each switch activates a fixed set of outputs Switch 1 digital 0 37 and analoge 0 1 Switch 2 digital 38 99 Switch 3 analogue 2 5 Keep the bus load of the CAN interface as low as possible Only activate the necessary digital or analogue outputs via one of the switches...

Page 175: ...Cs with Windows 7 Modifying network settings in a PC requires administrator rights The following ports must be open if necessary adjust the firewall settings UDP 3321 TCP HTTP and TCP 50010 Open Network and Sharing Centre Click on the name of the local network under Connections The window Local Area Connection Status of the local network opens ...

Page 176: ...nt O3M 176 Click on Properties The window Local Area Connection Properties of the local network opens Select Internet Protocol Version 4 TCP IPv4 Click on Properties The window Internet Protocol Version 4 TCP IPv4 opens ...

Page 177: ...77 ifm Vision Assistant O3M UK Select the option Use the following IP address Set the following standard values IP address 192 168 0 1 Subnet mask 255 255 255 0 Default gateway 192 168 0 201 Click on OK ...

Page 178: ...ariable has a specific value This is one way to use conditional codes Sometimes it only makes sense to display a text or an icon if something happens i e if a certain event occurs This is expressed by adding a condition The condition describes the occurrence or absence of something In most cases the condition refers to a diagnostic status or the result of a function a process value e g it could ma...

Page 179: ...s a general limitation to the number of elements to be displayed Using text replacement codes could produce surprising results when there is a mistake in the codes If a non existent code for example is entered the code is displayed but no replacement no error message If a code with a wrong qualifier extension is entered e g as in the code 1e see below it may occur that the system will display the ...

Page 180: ...f the ROI calculation available only in the DI BF version Some of the replacement codes are valid only if the text is placed in relation to an ROI In this case the text knows which ROI event is referred to It is not necessary to set the ROI number in the code This is currently not available in Vision Assistant There is a text replacement code always available with the same functionality but with e...

Page 181: ...umber necessary 0n the number of the ROI group to which the ROI is related uint8 only valid for text that is related to ROIs 0n e g results in 5 if displayed next to some ROI that belongs to ROI group No 5 associated text replacement used only for text bound to ROI overlay cannot be used in standard text primitives therefore no ROI group number necessary 16 2 5 Text replacement OD specific codes T...

Page 182: ...on of the object was 1 9 km h associated text replacement used only for text bound to Object overlay cannot be used in standard text primitives therefore no object number necessary 0t Object velocity in z direction of associated object in km h float 3 0 converted to km h Only valid for text that is related to objects 0t e g results in 0 if the result for the velocity in z direction of the object w...

Page 183: ... if the result for the velocity in z direction of the object was 0 1 km h associated text replacement used only for text bound to Object overlay cannot be used in standard text primitives therefore no object number necessary 10 Remaining time in s until crash will happen if no reaction braking is done float 1 1 only valid if collision is predicted 10 e g results in 1 3 if the predicted time to cra...

Page 184: ...irection of the object triggering zone 1 was 1 9 km h general text replacement used in standard text primitives cannot be used for text bound to objects 57 Velocity in z direction in km h of the nearest object in zone 1 float 3 0 only valid for the object triggering zone 1 tbd e g results in 0 if the result for the velocity in z direction of the object triggering zone 1was 0 1 km h general text re...

Page 185: ...is value of the object triggering zone 3 was 1 827 m general text replacement used in standard text primitives cannot be used for text bound to objects 5v 5w Minimum z position height of the nearest object in zone 3 in m float 3 1 float 3 2 only valid for the object triggering zone 3 tbd e g results in 0 1 if the result for the Min z value Height of the object triggering zone 3 was 0 098 m general...

Page 186: ... the nearest reflector object height in m float 3 1 float 3 2 only valid for reflector object tbd e g results in 2 1 if the result for the Max z value Height of the nearest reflector object was 2 098 m general text replacement used in standard text primitives cannot be used for text bound to objects 6e Velocity in x direction in km h of the nearest reflector object float 3 0 only valid for reflect...

Page 187: ...ude documentation of the Ethernet interface documentation of the contents examples in C libraries for ifm mobile controllers displays with Ethernet input The firmware packages are available as compressed zip files on the ifm website and are regularly updated 7 1 3 Firmware update 16 3 2 CAN J1939 CANOpen The CAN interface uses the SAE J1939 or CANopen protocol to dispatch events The results includ...

Page 188: ... and orientation for example in the completeness monitoring This enables to compensate for a rotation of the object by up to 40 Change of application The change of application can be triggered via the process interface or via the digital inputs Operation Mode Mode is active as default if an active application is available on the device The active application is in the process of being executed Par...

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