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Background on Autonomous Machines.................................................................................................................................. 4

Perception......................................................................................................................................................................................5

Positioning.....................................................................................................................................................................................5

Navigation..................................................................................................................................................................................... 5

Other Autonomous Requirements....................................................................................................................................... 5

How Most LiDAR Sensors Work...................................................................................................................................................6

Point Clouds..................................................................................................................................................................................7

Filtering Point Cloud Data........................................................................................................................................................7

Blooming........................................................................................................................................................................................9

How Ouster LiDAR Sensors Work................................................................................................................................................9

Coordinate Systems.................................................................................................................................................................10

Azimuth Window......................................................................................................................................................................11

Rings..............................................................................................................................................................................................12

Ouster LiDAR Supporting Features......................................................................................................................................... 13

Add the Ouster Block

Delete the Old Ouster Block C Code....................................................................................................................................... 14

Find the Newest Ouster and Data Lockers Blocks..............................................................................................................14

Configure One LiDAR

Wire One Ouster LiDAR Block.................................................................................................................................................... 17

Configure Parameters...................................................................................................................................................................18

Hardware and Ethernet Configuration Guidelines for One LiDAR...............................................................................19

Configure Hardware Directly to the Controller............................................................................................................. 19

Disconnect the Ethernet Output Parameters........................................................................................................... 20

Configure Using the Controller DHCP Service............................................................................................................... 21

Configure the Ethernet Output Using the Controller DHCP Service................................................................ 22

Configure Hardware on a Local Network.........................................................................................................................23

Configure Ethernet Output Using External DHCP Service................................................................................... 25

Configure Multiple LiDARs

Using Namespaces........................................................................................................................................................................ 26

Change Namespace Value.....................................................................................................................................................26

Wire Multiple Ouster LiDAR Blocks..........................................................................................................................................27

Configure Ethernet Outputs...................................................................................................................................................... 28

Customize Checkpoint Message Signals..........................................................................................................................30

Hardware Configuration Guidelines....................................................................................................................................... 30

Inputs, Outputs, and Parameters

Inputs..................................................................................................................................................................................................32

Parameters.................................................................................................................................................................................. 32

Outputs..............................................................................................................................................................................................33

Debug Signals............................................................................................................................................................................35

Fault Signals................................................................................................................................................................................36

Application Recommendations

How ACL Blocks Work Together............................................................................................................................................... 37

LiDAR Sensor Safety...................................................................................................................................................................... 37

Save Processing Time................................................................................................................................................................... 38

Frequently Asked Questions

User Manual

Ouster LiDAR

Contents

Danfoss | March 2023

AQ404281942428en-000103 | 3

Содержание PLUS+1 Compliant

Страница 1: ...User Manual PLUS 1 Compliant Ouster LiDAR Block www danfoss com...

Страница 2: ...ed block to the Hardware tab and added autonomy background material 0103 March 2022 Add configuration steps updated signal descriptions and updated service screens 0102 October 2021 First release of t...

Страница 3: ...the Controller 19 Disconnect the Ethernet Output Parameters 20 Configure Using the Controller DHCP Service 21 Configure the Ethernet Output Using the Controller DHCP Service 22 Configure Hardware on a...

Страница 4: ...d ranging LiDAR sensors determine distances to objects through laser lights The lasers measure the time for the reflected light to return to the LiDAR hardware so it can map out the environment around...

Страница 5: ...no side to side lateral movement Some machines do not have a true steering point such as machines with articulated steering Sometimes machines operate indoors where obtaining GNSS data may be impossi...

Страница 6: ...und them like a 360 degree video Another popular LiDAR is solid state LiDAR which are square unmoving and use one laser beam to record 3D data Although cheaper with more reliable readings they do not...

Страница 7: ...cannot convert to ordered point clouds Autonomy blocks use the following signals to indicate types of point clouds and whether they are input or output signals Point Cloud Signal Names Signal Name De...

Страница 8: ...a has the fastest processing times The image above shows filtered and unfiltered unordered point cloud data The LiDAR scans the data points it detects in the filtered image but there are not placehold...

Страница 9: ...oss s PLUS 1 software and Ouster s software Ouster Studio Review Ouster s website to see the types of LiDARs available their accompanying user manual and Ouster Studio Ouster Studio shows what the LiD...

Страница 10: ...t North Up and North East Down global coordinate systems Danfoss uses ENU Turning South in the ENU system the vehicle passes through 1 2 until reaching 180 when facing West Turning North the vehicle p...

Страница 11: ...d sets the starting angular degree and the maximum azimuth bound Max_Azimuth_Bound sets the ending angular degree of the azimuth window Configure the azimuth window by setting the minimum and maximum...

Страница 12: ...nector or any other azimuth window that requires the Min_Azimuth_Bound to be greater than the Max_Azimuth_Bound To meet this requirement mount the Ouster LiDAR hardware to point backward in relation t...

Страница 13: ...LiDAR hardware in 32 channel 64 channel and 128 channel OS0 OS1 OS2 How to Choose Hardware Choose hardware based on processing power The XM100 controller has more processing power than the DM1000 and...

Страница 14: ...thin the application go to Project Manager C Code Ouster_Driver_AvailableHeader 3 Delete all the old Ouster files by right clicking on the Ouster h file then selecting Delete Remove 4 Select Delete fr...

Страница 15: ...iple LiDARs place an additional Ouster LiDAR compliance block for each piece of Ouster LiDAR hardware 4 Place a new Data_Lockers block from the Autonomous Control Library version 2 6 in the applicatio...

Страница 16: ...es not need to be on the same page as the Ouster LiDAR compliance block f If there is an older Data_Lockers block in the application delete the old block 5 If connecting one Ouster LiDAR hardware see...

Страница 17: ...When connected to a local network the DHCP service on the network assigns IP addresses to the controller and Ouster LiDAR hardware Wire One Ouster LiDAR Block Follow these steps to wire the Ouster Li...

Страница 18: ...nter the Parameters page 3 Configure the networking parameters a Modify the IP_Address value to enter the IP address of the Ouster LiDAR hardware Enter the IP address as an array of four number separa...

Страница 19: ...set the Ouster LiDAR hardware after changing the configuration to implement the changes Hardware and Ethernet Configuration Guidelines for One LiDAR This section describes the process to configure a s...

Страница 20: ...to a controller the Ouster LiDAR compliance block provides the network parameters required for communication between the controller and LiDAR Disconnect the parameters in the Ethernet output in the c...

Страница 21: ...a controller using the DHCP service on the controller Mount and connect the Ouster LiDAR hardware following guidelines in the hardware user manual provided by Ouster Use an M12 to RJ45 Ethernet cable...

Страница 22: ...e 21 Ensure that the IP addresses you use are not currently in use on the network 1 From the top of the application enter the Outputs page then the Ethernet page Do not open the USBEthernet page 2 Set...

Страница 23: ...mpile the application Configure Hardware on a Local Network Follow these guidelines when configuring the Ouster LiDAR hardware on a local network Mount and connect the Ouster LiDAR hardware following...

Страница 24: ...XM100 controller The image shows the Ouster Interface Box connected to a network smart switch The switch is also connected to the XM100 controller These two cables may not come with the Ouster LiDAR h...

Страница 25: ...1 From the top of the application enter the Outputs page then the Ethernet page Do not open the USBEthernet page 2 Set Enable to True 3 Set DHCP to 7 4 Set DHCPService_Enable to False You do not need...

Страница 26: ...r LiDAR hardware Each Ouster LiDAR compliance block must have a unique namespace For more information see Using Namespaces on page 26 The checkpoint messages must have unique names For instructions se...

Страница 27: ...t Data_Lockers block See Add the Ouster Block on page 14 1 Give each Ouster LiDAR compliance block a unique name For example Ouser_LiDAR_1 and Ouster_LiDAR_2 See Using Namespaces on page 26 2 Add a Se...

Страница 28: ...rs block in the application and it does not need to be on the same page as the Ouster LiDAR compliance block Configure Ethernet Outputs Configure the values in the Ethernet Outputs page for two 32 cha...

Страница 29: ...o the XM100 s The example here is 192 168 1 101 d Set the DHCPService_RangeTo to an IP address range within four numbers of the XM100 s The example here is 192 168 1 104 Now the XM100 can assign IP ad...

Страница 30: ..._2 Checkpoints Messages and add _2 to all the message names 4 Compile the application Hardware Configuration Guidelines After configuring each Ouster LiDAR compliance block set up the XM100 and two 32...

Страница 31: ...sion b Ping the Ouster LiDAR hardware connected to Port 2 by typing in ping os xxxxxxxxx local but replace the x s with the Ouster LiDAR hardware serial number which is found on the LiDAR s top c Veri...

Страница 32: ...es that there is an active connection over Ethernet It is active when connected to a LiDAR or network device 0 Ethernet connection is down 1 Ethernet connection is up Chkpt BOOL T F Enables advanced c...

Страница 33: ...efault 2048 Pixels Framerate U16 10 or 20 Sets the number of scans the LIDAR performs in one second Default 10 Hertz Outputs The following table describes outputs from the Ouster LiDAR compliance bloc...

Страница 34: ...n block Eth_Config BUS Transmits data for connecting an Ouster LiDAR hardware directly into the Ethernet port of the controller To use this output connect it directly to the Ethernet bus in the output...

Страница 35: ...set UDP destination 13 Failure to reinitialize the LiDAR 14 Reserved 15 Reserved 16 Failure to parse Pixels per Column from LiDAR data format 17 Failure to parse Columns per Packet from LiDAR data fo...

Страница 36: ...o 4294967295 List of the 30 most recent active or inactive fault codes Get_Alerts_log_isValid BOOL T F Indicates that the compliance block received fault messages from the LiDAR Get_Alerts_active_isVa...

Страница 37: ...acles or features The flowchart shows which blocks come before others and how they relate to parts of the machine For example place an Obstacle Avoidance block before an Angle and curvature conversion...

Страница 38: ...ocessing Time To have a machine function as efficiently as possible configure the code to save processing time One way to save processing time is to turn off sections of the code when they are not nee...

Страница 39: ...always scans counter clockwise 5 Why won t the Ouster LiDAR hardware connect a Connect all hardware with power cables b In PLUS 1 GUIDE check that the Ethernet is connected to input and output Ethern...

Страница 40: ...anfoss Power Solutions US Company 2800 East 13th Street Ames IA 50010 USA Phone 1 515 239 6000 Danfoss Power Solutions Trading Shanghai Co Ltd Building 22 No 1000 Jin Hai Rd Jin Qiao Pudong New Distri...

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