Ground detection
Ground detection recognizes objects lying on the road, as well as steps or depressions.
The sensitivity of the filter can be adjusted to different road surfaces, from smooth/
level (
-
) to rough/uneven (
+
).
It should be noted that the ground detection functionality is only available on the first or
last echo and at distances of a maximum of 30 m. If the condition of the surface is
defined as rough/uneven, flat objects lying on the ground may not be classified as
objects.
3.5.8
Multi-layer technology
The multi-layer technology of the device allows compensation of the pitch angle through
24 layers at different vertical angles, when attached to a vehicle for example. In this
way, the device detects the object reliably, for example even when the vehicle acceler‐
ates or brakes.
3.5.9
Scan data output
The device has 4 polygon mirrors that each detect one plane. 6 layers are detected per
plane.
The data is output for each scan. Every 100 ms, the data is output with 24 telegrams in
each case (1 telegram per layer). The duration of data output for all data of a scan
depends on the connection speed. At highest transmission speed (1 GBit Ethernet), the
output duration is approx. 8 ms.
Marks for scan (scan counter), plane (time stamp) and layer (layer angle) are included
in the data telegram for data assignment.
Data telegram (example):
1
<STX>sSN LMDscandata 1 0 10736D01 0 0 1CC0
56BB 86BD0263
88BFBE92 F0 0 0 0
F5B2
3E8 ...
2
<STX>sSN LMDscandata 1 0 10736D01 0 0 1CC1
56BB 86BD0263
86BFC40A F0 0 0 0
F62F
3E8 ...
3
<STX>sSN LMDscandata 1 0 10736D01 0 0 1CC2
56BB 86BD0263
86BFC88F F0 0 0 0
F6AC
3E8 ...
4
<STX>sSN LMDscandata 1 0 10736D01 0 0 1CC3
56BB 86BD0263
86BFCD77 F0 0 0 0
F729
3E8 ...
5
<STX>sSN LMDscandata 1 0 10736D01 0 0 1CC4
56BB 86BD0263
86BFD252 F0 0 0 0
F7A6
3E8 ...
6
<STX>sSN LMDscandata 1 0 10736D01 0 0 1CC5
56BB 86BD0263
86BFD51C F0 0 0 0
F823
3E8 ...
7
<STX>sSN LMDscandata 1 0 10736D01 0 0 1CC6
56BB 86BD640B
86BFDAE7 F0 0 0 0
F8A0
3E8 ...
8
<STX>sSN LMDscandata 1 0 10736D01 0 0 1CC7
56BB 86BD640B
86BFDF8F F0 0 0 0
F91D
3E8 ...
PRODUCT DESCRIPTION
3
8022069/114M/2019-07-17 | SICK
O P E R A T I N G I N S T R U C T I O N S | MRS6000
19
Subject to change without notice
