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Blickfeld Cube 1 Скачать руководство пользователя страница 26

Commissioning

26

Cube 1, Cube Range 1

Version 2.1

5 .2

Troubleshooting of the WebGUI connection

Problem

Possible cause

Measure

A connection cannot
be established between
the computer and the
Cube.

No power connection

• Check the power LED on the Cube.

• If it does not light up: check the

power connection.

The Cube has a fault.

• Check the function LED on the Cube.

• If it does not light up or lights up red:

restart the Cube with a power cycle.

• The function LED still does not light

up or lights up red: contact Blickfeld.

Tab. 5

Troubleshooting of the WebGUI connection

Consult the software documentation if you have any further problems. It can be found at

blickfeld.com/resource

5 .3

Software tools

Tool

Function

WebGUI

The WebGUI is used to display the status information of the Cube,
to generate the scan patterns and to create the network config-
uration. You can also use the integrated viewer to view the point
cloud live and control the data recording. The WebGUI also allows
you to install new firmware.

Lidarview

Lidarview is an open source program used to display point clouds
and execute simple measurements. Blickfeld makes an expanded
version of this program available to you that you can use to visual-
ize live the LiDAR data collected by the Cube.

Blickfeld Point Cloud
Recorder

The Blickfeld Point Cloud Recorder is used to record and convert
point clouds. It supports the VTU format, among others.

Blickfeld Scanner
Library

The Cube can be controlled via a programming interface (the
so-called “Blickfeld Scanner Library”, or BSL). It supports the C++
and Python programming languages. Visit https://github.com/
Blickfeld/blickfeld-scanner-lib to download the BSL. You will also
find instructions for installing the Python package there.

Robot Operating
System

This is a programming interface for applications that use the
Robot Operating System (ROS/ROS 2). Please contact the Blick-
feld Support to receive the latest version.

Tab. 6

Software tools

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Содержание Cube 1

Страница 1: ...Cube 1 Cube Range 1 ...

Страница 2: ...l 49 89 2306935 00 E mail info blickfeld com Website www blickfeld com 2021 DOCUMENT HISTORY Version Date Revised Contents 1 0 June 1 2020 Initial creation 1 1 November 24 2020 Commissioning 2 0 April 27 2021 Cube Range added 2 1 May 19 2021 Added coordinate system description and LiDAR output ...

Страница 3: ... 1 3 Function description 11 3 2 Electronic properties 12 3 2 1 Supply voltage 12 3 2 2 Power supply 12 3 2 3 Power consumption 12 3 2 4 Data transmission 12 3 2 5 Thermal properties 12 3 3 Properties 13 3 3 1 Laser source 13 3 3 2 Field of view 13 3 3 3 Scan pattern 14 3 3 4 Point cloud output 15 3 3 5 Coordinate system 16 3 3 6 Technical specifications 17 4 Installation 20 4 1 Scope of supply 20...

Страница 4: ...rsion 2 1 6 Maintenance 28 6 1 Cleaning 28 6 2 Repair work 28 7 Putting out of operation 29 7 1 Storage 29 7 2 Disposal 29 8 Customer service support 30 9 Appendix 31 9 1 EU Declaration of Conformity 31 9 2 REACH information 31 ...

Страница 5: ... apply to the Cube Range 1 unless specified otherwise IMPORTANT NOTICE This manual contains all of the information necessary to safely mount install and start up the Cube Therefore read and follow the safety and warning notes before beginning work 1 2 Symbols and signal words SAFETY NOTES WARNING NOTES Structure of the safety and warning notes in this user manual WARNING Type and source of danger ...

Страница 6: ...ING OF THE WARNING SYMBOLS The following warning symbols indicate sources of danger Symbol Meaning General warning sign Warns of life threatening electrical voltage Indicates a potential danger due to laser radiation Failure to observe the safety notes can lead to serious injury especially to the eyes 1 3 Abbreviations Abbreviation Description BSL Blickfeld Scanner Library DHCP Dynamic Host Config...

Страница 7: ...tection Smart infrastructure Robot technology Drones Logistics Filling level measurement 2 2 Unintended use The Cube may only be operated within the value range defined in the technical data see 3 3 6 Technical specifications on page 17 The operator of the Cube must comply with all local regulations for the operation of laser devices Despite its high robustness compared to other LiDAR technologies...

Страница 8: ...wing instructions to avoid personal injury Only use the Cube as intended Never open the protective housing of the Cube Make no changes to the system without the explicit permission of Blickfeld GmbH espe cially changes that affect the design or the safety functions of the system Never try to operate the Cube if an obvious damage of the device is discernible In the unlikely event that unusual pheno...

Страница 9: ...visible to the human eye but it is still possible for improper use to lead to eye injury The Cube is classified as a laser product of Class 1 as per IEC 60825 1 2014 and thus is not dan gerous to the human eye under reasonably foreseeable operating conditions Further informa tion on the laser of the Cube can be found under 3 3 6 Technical specifications on page 17 2 3 2 Electrical safety WARNING W...

Страница 10: ...e front of the Cube see Fig 1 Cube overview the left side has two connec tions for the power supply and for the Ethernet The right side has three threaded holes that can be used to mount the Cube either on the supplied mounting bracket or on a prepared mount 7 2 3 4 5 6 1 1 Fig 1 Cube overview Cube 1 front top left Cube Range 1 front top right Cube 1 sides bottom 1 Optical aperture front 2 Power c...

Страница 11: ...ource generates laser pulses that hit MEMS based silicon mirrors The oscillating mirrors direct the laser beams in different directions through the optical window If the laser hits objects in the field of view of the Cube these reflect the laser beam The distance to the object is calculated from the runtime differ ence between emission of the laser pulse and reception of the reflection 1 2 2 3 4 4...

Страница 12: ...ion During normal operation at room temperature consumption is approx 8 5 W During the start procedure peak power consumption of 15 W can be reached see 3 3 6 Technical specifica tions on page 17 3 2 4 Data transmission For connection and data transmission to a computer a Gigabit Ethernet interface is used For this purpose the Cube has a standard RJ45 socket with a standard pin assignment as per T...

Страница 13: ... two scanners in the form of MEMS mir rors They deflect the laser beam horizontally and vertically to measure a scene in two dimen sions The sum of the maximum deflection angles is called the field of view FoV If a scanner deflects the laser by 35 for example this corresponds to an FoV of 70 One of the scanners swivels with a constant amplitude thus generates the horizontal FoV see 3 3 6 Technical...

Страница 14: ...scan lines s In the above example this results in a frame rate of 500 100 1 s 5 Hz Fig 5 Scan pattern on page 14 illustrates the relationship between the number of scan lines and the frame rate The straight edges that limit the horizontal FoV on both sides are intended to protect the eyes Another possible setting is the horizontal resolution which describes the spacing between two laser pulses alo...

Страница 15: ... of the reflected light pulse unit32 Tab 3 LiDAR output data provided for every received echo Additionally the following data are available for every measurement angle Data field Description Data type Timestamp offset Specifies the start of each ranging measure ment with respect to the absolute start time of the corresponding frame in ns unit64 Elevation angle Elevation angle under which the measu...

Страница 16: ...n spherical coordinates R θ ϕ where R is the distance from the sensor θ is the elevation angle and ϕ the azimuthal angle The defini tions of the two coordinate systems are depicted in Fig 6 The following relationships apply for converting between the coordinate systems x R cos θ sin ϕ y R cos θ cos ϕ z R sin θ Fig 6 Cube coordinate system Definitions and measurements of the origin location are ide...

Страница 17: ...gurable Horizontal resolution 0 4 1 0 user configurable 0 24 0 4 user configurable Scan rate 500 scan lines per second Frame rate 1 5 50 Hz dependent on configured scan lines and vertical field of view Examples 70 x 30 200 scan lines min 2 5 Hz 70 x 25 50 scan lines min 10 Hz 70 x 10 20 scan lines min 25 Hz 2 5 50 Hz dependent on configured scan lines and vertical field of view Examples 18 x 12 20...

Страница 18: ...e elevation angle and timestamp in ns per acquisition On device data processing Smart background subtraction and pose correction transformation Filters Distance Noise Intensity Neighbor IMU output 1 kHz sampling rate 3 axis accelerometer 3 axis gyroscope CONTROL INTERFACE Cube 1 Cube Range 1 Configuration interface Cross platform graphical web interface with interactive 3D point cloud visualizatio...

Страница 19: ...lications Electrical safety EN 61010 1 2020 03 Protection class III SELV Overvoltage category I OPERATIONAL Cube 1 Cube Range 1 Operating air temperature angle mount attached 30 C 60 C Storage temperature 30 C 60 C Humidity 85 at 30 C non condensing Altitude 4000 m above sea level Ingress protection IP40 according to IEC 60529 Pollution degree 2 Impact protection IK06 according to IEC 62262 The pr...

Страница 20: ...d after it has been installed on a mount The supplied aluminum mounting bracket can be used for this see Fig 7 Example of the Cube mounted on a tripod using the supplied mounting bracket on page 21 or a mount prepared by the user can be used as well The mount must be designed in such a way that it dissipates the heat generated by the Cube ATTENTION Electromagnetic radiation can damage the Cube Do ...

Страница 21: ...tallation Version 2 1 Cube 1 Cube Range 1 21 1 2 3 4 Fig 7 Example of the Cube mounted on a tripod using the supplied mounting bracket 1 Stand not included 2 Mounting bracket 3 Ethernet cable 4 Power cable ...

Страница 22: ...Installation 22 Cube 1 Cube Range 1 Version 2 1 1 2 Fig 8 Cube installation plan 1 Curved slot for setting the angle of inclination 2 1 4 20 UNC threaded hole ...

Страница 23: ...ions have been properly established 1 2 3 4 Ethernet Ethernet Ethernet Power 12 V Either or 110 230 V AC Fig 9 Cabling plan 1 Computer 2 Cube 3 Power supply unit 4 Switch Proceed as follows to connect the Cube to the cables and establish operating readiness 1 Connect the supply voltage to the Cube 2 Secure the plug in connectors by tightening the locking screws Æ The electrical installation is com...

Страница 24: ...Cube supports the automatic assignment of the IP address DHCP as is custom ary in company networks for example but can also be addressed via a static fallback IP CONNECTION VIA A NETWORK WITH AUTOMATIC IP ADDRESS ASSIGNMENT If you connect the Cube to a network with automatic IP address assignment proceed as fol lows to establish a connection with the Cube 3 Open an Internet browser such as Mozilla...

Страница 25: ...he last position of the IP address marked with an X must be between 1 and 254 and must not be 26 7 Open an Internet browser such as Mozilla Firefox oder Google Chrome 8 Open the address http 192 168 26 26 Æ You are now connected to the WebGUI of the Cube 2 3 4 5 1 Fig 10 WebGUI Dashboard 1 Menu 2 Device status overview and reboot button 3 Active scan pattern display 4 List of active recordings and...

Страница 26: ...he integrated viewer to view the point cloud live and control the data recording The WebGUI also allows you to install new firmware Lidarview Lidarview is an open source program used to display point clouds and execute simple measurements Blickfeld makes an expanded version of this program available to you that you can use to visual ize live the LiDAR data collected by the Cube Blickfeld Point Clo...

Страница 27: ...eed as follows to reset the Cube firmware to the recovery mode 1 Disconnect the Cube from the power supply 2 Press the reset button while reconnecting the Cube to the power supply 3 Keep the button pressed until the function LED see 5 in Fig 1 Cube overview Cube 1 front top left Cube Range 1 front top right Cube 1 sides bottom on page 10 flashes red 4 Release the reset button Æ The Cube starts the...

Страница 28: ...pairs are necessary 6 1 Cleaning For maximum performance the optical window of the Cube must be checked regularly for contamination Clean the window if necessary with a microfiber cloth and a mild window cleaner This also applies to cleaning of the housing Note The window consists of a special plastic material Note the fol lowing when cleaning Do not touch the window with your fingers Do not use a...

Страница 29: ... humidity 85 at 30 C non condensing Tab 7 Ambient conditions for storage STORING SENSOR COMPONENTS If possible store the sensor components in their original packaging in a dry location If the original packaging is no longer available cover the Cube to protect it against dust and store it in a dry location 7 2 Disposal Dispose of the Cube and the cables in an environmentally friendly manner accordi...

Страница 30: ...port Do not send devices to Blickfeld without having been requested to do so Contact the Blickfeld Support via support blickfeld com for repair and maintenance Blickfeld GmbH Barthstr 12 80339 Munich Germany Tel 49 89 2306935 00 E mail support blickfeld com Website www blickfeld com ...

Страница 31: ... concern SVHC listed in the Autho rization Candidate list under article 59 of the European Union REACH Regulation EC No 1907 2006 In accordance with Article 33 1 of REACH Blickfeld discloses the presence of lead zirconate titanate CAS No 12626 81 2 in excess of 0 1 w w in the final product Under normal use the material cannot be released into the environment and is of no harm to the user Do not op...

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