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Table 4: Example: Median for scan 2 and angle 4 (3 x 3 matrix: scan 1 to 3, angle 3 to 5)

Angle (distance values)

Scan

1

2

3

4

5

…

1

0

0

850

1100

1150

…

2

0

0

950

1200

1250

…

3

0

0

850

1150

1200

…

…

…

…

…

…

…

…

Median calculation: 850 (lowest value) | 850 | 950 | 1,100 |

1150

(median) | 1,150

| 1,200 | 1,200 | 1,250 (highest value)

3.5.8.6

Ground reference evaluation

NOTE

When the ground reference evaluation function is activated, the mean filter is automati‐
cally deactivated.

The ground reference evaluation function enables the LiDAR sensor to protect hazard‐
ous areas when used in conjunction with automated guided vehicle systems (AGVS).
Any objects lying on the path (pallets or small load carriers), or steps and depressions
in the ground, are distinguished and detected, thereby avoiding collisions.

The PC software SOPAS ET is used to configure the device and enter the installation
location (position of the device),

"Operation with SOPAS ET", page 43

. The following

application parameters must be taken into consideration and adhered to:

Table 5: Application parameters for ground reference evaluation

Condition

Value

Mounting height

0.3 … 1.3 m

Tilt angle

+11° … +30°
Overhead mounting

1

: -10° … -30°

see table 6, page 23

Roll angle

± 0.5°

Yaw angle

Flexible

Required accuracy for the
configuration data inputs

Mounting height: ± 5 cm
Tilt angle: ± 0.5°

Ambient conditions

Indoor applications, level floor surface, no slope, min. corridor
width 2 m

1

the following offset values must be configured for overhead mounting: yaw angle 180°, tilt angle 180°

1

2

3

4

Figure 26: Ground reference evaluation, explanation of application parameters

1

Yaw angle

2

Roll angle

3

PRODUCT DESCRIPTION

22

O P E R A T I N G I N S T R U C T I O N S | MRS1000

8020494/1AZF/2021-05-10 | SICK

Subject to change without notice

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Содержание MRS1000

Страница 1: ...O P E R A T I N G I N S T R U C T I O N S MRS1000 3D LiDAR sensors ...

Страница 2: ...ible within the limits of the legal determination of Copyright Law Any modi fication abridgment or translation of this document is prohibited without the express written permission of SICK AG The trademarks stated in this document are the property of their respective owner SICK AG All rights reserved Original document This document is an original document of SICK AG 2 O P E R A T I N G I N S T R U...

Страница 3: ...operation 12 3 5 1 Measurement principle 12 3 5 2 Range finding 12 3 5 3 Direction measurement 13 3 5 4 Impact of object surfaces on the measurement 13 3 5 5 Scanning range 14 3 5 6 Object sizes 16 3 5 7 Multi echo analysis 17 3 5 8 Filter 19 3 5 9 Multi plane technology 24 3 5 10 Scan data output 24 3 5 11 Interlaced mode 25 3 5 12 RSSI values 27 3 5 13 Contamination indication 28 3 5 14 Calculat...

Страница 4: ... electronics 53 10 3 Dimensional drawing 54 10 4 Performance 55 10 5 Interfaces 55 10 6 Ambient data 55 11 Accessories 56 12 Annex 57 12 1 EU declaration of conformity Certificates 57 12 2 Licenses 57 12 3 Cybersecurity 57 12 4 Configuration without computer 57 12 4 1 Field evaluation 57 12 5 Configuration with computer 58 12 5 1 Output of measured values via terminal program 58 12 5 2 Measured va...

Страница 5: ...on on operating the machine or system in which the device is integrated Information on this can be found in the operating instructions for the machine or system 1 2 Explanation of symbols Warnings and important information in this document are labeled with symbols Sig nal words introduce the instructions and indicate the extent of the hazard To avoid accidents damage and personal injury always com...

Страница 6: ...ng technical data dimensional drawing and specification diagrams EU declaration of conformity and certificates of the product family Dimensional drawings and 3D CAD dimension models of the device types in various electronic formats Other publications related to the devices described here Publications dealing with accessories 1 ABOUT THIS DOCUMENT 6 O P E R A T I N G I N S T R U C T I O N S MRS1000...

Страница 7: ...n accordance with the respec tive applicable safety standards for machines The device must not be used in explosion hazardous areas in corrosive environ ments or under extreme environmental conditions Any use of accessories not specifically approved by SICK AG is at your own risk WARNING Danger due to improper use Any improper use can result in dangerous situations Therefore observe the following ...

Страница 8: ...mproper handling of the device may result in considerable personal injury and material damage All work must only ever be carried out by the stipulated persons This product documentation refers to the following qualification requirements for the various activities associated with the device Instructed personnel have been briefed by the operator about the tasks assigned to them and about potential d...

Страница 9: ...risk Current national regulations regarding laser protection must be observed Caution Use of controls or adjustments or performance of procedures other than those specified herein may result in hazardous radiation exposure WARNING Electrical voltage Electrical voltage can cause severe injury or death Work on electrical systems must only be performed by qualified electricians The power supply must ...

Страница 10: ...up parameterization firmware update correctable error Off O Green O Yellow Field breached O Green O Green Field free Ö Red Ö Red Fatal error O Green O Green On Ready for operation Ö Green Ö Green Standby O Green Ö Yellow Restart after time input Ö Yellow O Green Contamination warning Ö Yellow Ö Red Contamination error Ö Yellow Ö Yellow EasyTeach teach in Ö Green Ö Red Alignment mode O Green O Yell...

Страница 11: ...combinations are possible according to the type code The available device variants can be found online at www sick com MRS1000 3 4 Type label The type label gives information for identification of the sensor ETH I O PWR MRS1104C 111011 www sick com 1081208 Ident No 1081208 Serial No 16190912 DC 10 30V Ptyp 13W max 37W Temp 30 C 50 C IP65 67 MAC 00 06 77 06 05 5E Manufactured May 2016 MADE IN GERMA...

Страница 12: ...t in 4 spread out scan planes layers 1 to 4 Figure 3 LiDAR sensor with 4 scan planes 3 5 2 Range finding The device emits beams pulsed by a laser diode If the laser beam is reflected by an object the reflected beam is received by the sensor The distance to the object is calculated on the basis of the time that the pulsed light beam requires to be reflected and received by the sensor t 1 2 1 Send p...

Страница 13: ...of the laser beam in all directions The structure smooth or rough shape flat or curved and color light or dark of the surface determine how well the laser beam is reflected On very rough surfaces a large proportion of the energy is lost due to absorption Curved surfaces produce a higher diffusion Dark surfaces reflect the laser beam worse than light ones brilliant white plaster reflects approx 100...

Страница 14: ... cannot reflect the laser light s full energy The portion of the light beam that does not reach the object is lost If all of the light reflected to the sensor is insufficient the object may not be detected The portion of the light that does not reach the front object can be reflected by a larger object in the background If all of the light reflected to the sensor is sufficient this object is detec...

Страница 15: ... activated no influence from fog rain or dust a 10 klx b 40 klx c 80 klx Statistical error in mm in 0 0 40 131 2 50 164 1 60 196 9 5 0 20 10 0 39 15 0 59 20 0 79 Object distance in m ft 20 65 6 10 32 8 30 98 4 c b a Figure 10 Statistical error for white objects as a function of object distance for various ambient light influences PRODUCT DESCRIPTION 3 8020494 1AZF 2021 05 10 SICK O P E R A T I N G...

Страница 16: ...calculating the light spot width Light spot divergence mrad HDDM supplement mrad x distance mm light spot size on the device cover mm light spot width mm Example calculation of the light spot width at a distance of 16 m 16 000 mm 10 4 mrad 8 7 mrad 16 000 mm 7 mm 312 6 mm Formula for calculating the height of the light spot Light spot divergence mrad x Distance mm Light spot height at the n device...

Страница 17: ...particular when using the device to output measured values the laser needs to hit the object several times Therefore the object either needs to be larger than the minimum object size or both the LiDAR sensor and the object must not be moving 3 5 7 Multi echo analysis The distance between the device and an object is calculated via the time of flight of the emitted pulse The device can evaluate up t...

Страница 18: ...affic 1 Fog 2 Rain 3 Measuring object Figure 15 Multi echo analysis example industrial application for mining 1 Glass pane 2 Dust 3 Measuring object 3 PRODUCT DESCRIPTION 18 O P E R A T I N G I N S T R U C T I O N S MRS1000 8020494 1AZF 2021 05 10 SICK Subject to change without notice ...

Страница 19: ...en the filters are applied sequentially to the results of the preceding filter Processing occurs in the following sequence echo filter particle filter median filter ground reference evaluation mean filter It should be noted however that the measurement data output may be delayed due to the multiple calculation steps For many applications it is useful to use a combination of the median filter and t...

Страница 20: ...unwanted ech oes from ambient conditions as per the set tings chosen 3 5 8 2 Fog filter The fog filter enables the device to eliminate unwanted echoes at close range This considerably lowers the probability of false activations at close range in fog Figure 20 Without the fog filter objects are difficult to detect through the fog due to reflec tions Figure 21 Using the fog filter objects can be det...

Страница 21: ...r excluding individual outliers from the calculation of an average value The moving median filter sorts the measured values according to their size and selects the middle value from this sequence The values taken into consideration are defined by a matrix the size of which is configurable A 3 x 3 matrix for example takes into consideration 9 measured values consisting of the distance values of a p...

Страница 22: ...ftware SOPAS ET is used to configure the device and enter the installation location position of the device Operation with SOPAS ET page 43 The following application parameters must be taken into consideration and adhered to Table 5 Application parameters for ground reference evaluation Condition Value Mounting height 0 3 1 3 m Tilt angle 11 30 Overhead mounting 1 10 30 Details see table 6 page 23 ...

Страница 23: ...aces on the measurement page 13 The filter evaluates the difference in distance between adjacent points When the edge filter is activated the device sets the distance value to 0 at each edge values in bold as soon as the parameterized neighbor distance has been exceeded in the edge filter area Table 7 Example Measured values with and without edge filter Angle distance values in mm Scan 1 2 3 4 5 6...

Страница 24: ...ne The data for a specific plane is outputted every 20 ms The device requires 80 ms to output the data for all four planes In the data message the individual scans and the associated scan planes are identi fied by their time stamp and location address Data message STX sSN LMDscandata 1 0 1053B01 0 0 8531 8531 299855DA 2A6073CC 0 0 0 0 0 1388 B4 STX sSN LMDscandata 1 0 1053B01 0 0 8532 8532 2998A3B...

Страница 25: ...aluation Angular resolution 0 0625 response time 320 ms Raw data via LMDscandata telegram The first scan of a sequence has one scan point more than the other scans of a sequence This allows the customer to create a scan from a nested sequence The device sends a telegram after every single scan rotation The individual scans of a sequence are not merged into one telegram Field evaluation For the fie...

Страница 26: ... switching range to cause uneven angular steps This jitter varies depending on the set interlaced mode Depending on the selected interlaced mode the jittering of the individual measuring points only affects a defined angular range and not the entire scan field The actual angle is transmitted by telegram to show the correct position of the measuring points The 0 position is located directly in the ...

Страница 27: ...provides for every echo signal an associated RSSI value for the signal strength The RSSI values have a resolution of 8 bits with whole number values between 1 and 255 where 1 represents the weakest signal and 254 the strongest signal e g with a reflector A value of 255 means dazzled The value 0 zero means that the received energy was too low to produce a valid measured value A valid distance measu...

Страница 28: ...g and contamination errors are output when the front screen is partially and only slightly contaminated The sensor evaluates all sectors and activates the contamination warning or contamination error using the following strategy No warning error If the sum of sectors with reached limit value for error 0 and the sum of sectors with reached limit value for warning 1 Warning If the sum of sectors wit...

Страница 29: ...minimum distance to the vehicle is maintained at all times This ensures that a vehicle monitored by the LiDAR sensor stops before an object is reached You can define multiple monitoring cases each with different switching fields These can be switched over dynamically via static control inputs for example to adjust the switching field size based on the vehicle speed In this kind of application you ...

Страница 30: ...ed of the vehicle in your mobile application For more information on the response time TS of the LiDAR sensor see Technical data page 51 How to calculate the distance SAnS covered during the response time of the LiDAR sensor SAnS TS Vmax TS Response time of the LiDAR sensor Vmax Maximum speed of the vehicle from the relevant vehicle documentation The response time TS of the LiDAR sensor depends on...

Страница 31: ...e calculated using the following formula guideline values based on a pixel calculation SB FB 2 ZG ZR FB Vehicle width ZG General safety supplement for the LiDAR sensor 100 mm ZR Supplement for application related influences or the selected application parame ters PRODUCT DESCRIPTION 3 8020494 1AZF 2021 05 10 SICK O P E R A T I N G I N S T R U C T I O N S MRS1000 31 Subject to change without notice...

Страница 32: ...t inspection Immediately upon receipt in Goods in check the delivery for completeness and for any damage that may have occurred in transit In the case of transit damage that is visible externally proceed as follows Do not accept the delivery or only do so conditionally Note the scope of damage on the transport documents or on the transport compa ny s delivery note File a complaint NOTE Complaints ...

Страница 33: ...rage periods of longer than 3 months check the general condition of all components and packaging on a regular basis TRANSPORT AND STORAGE 4 8020494 1AZF 2021 05 10 SICK O P E R A T I N G I N S T R U C T I O N S MRS1000 33 Subject to change without notice ...

Страница 34: ... labels or stickers to the optics cover Do not subject the device to excessive shock or vibrations In systems subjected to heavy vibrations secure the fixing screws with screw locking devices 5 2 Mounting device 1 Mount the device in a suitably prepared bracket using the fixing holes provided see Dimensional drawing page 54 Mounting brackets are available as acces sories see Accessories page 56 2 ...

Страница 35: ...ors To rule out even the slightest effects on the measurement accuracy the devices should be arranged such the laser beams are not received by another device Figure 32 Arrangement for 2 devices MOUNTING 5 8020494 1AZF 2021 05 10 SICK O P E R A T I N G I N S T R U C T I O N S MRS1000 35 Subject to change without notice ...

Страница 36: ...s sections in the supply cable from the customer s power system should be designed in accordance with the applicable standards Protect the device with an external slow blow fuse of 5 A at the beginning of the supply cable viewed from the voltage supply The specified enclosure rating of the device when mounted is reached only if suitable mating connectors or protective caps are used Do not open the...

Страница 37: ...l trigger sen sor s system controller via shielded cables The cable shield for the data cable for example rests against the metal housing of the device The device can be grounded through the cable shield or through a blind tapped hole in the housing for example If the peripheral devices have metal housings and the cable shields are also in contact with their housings it is assumed that all devices...

Страница 38: ...ations On widely distributed system installations with correspondingly large potential differen ces the setting up of local islands and connecting them using commercially available electro optical signal isolators is recommended This measure achieves a high degree of resistance to electromagnetic interference Electro optical signal isolator Electro optical signal isolator Power Supply SICK Device ...

Страница 39: ...cable Even in the event of large differences in the ground potential ground loops are effec tively prevented As a result equalizing currents can no longer flow via the cable shields and metal housing NOTICE The voltage supply for the device and the connected peripheral devices must also guarantee the required level of insulation Under certain circumstances a tangible potential can develop between ...

Страница 40: ...nt for Ethernet connection Pin Identification Description 1 TX Sender 2 RX Receiver 3 TX Sender 4 RX Receiver I O connection 1 7 2 6 3 4 5 8 Figure 38 Female connector M12 8 pin A coded Table 11 Pin assignment for I O connection Pin Identification Description Wire color part num ber 6036155 1 1 IN1 OUT1 Digital input 1 digital output 1 White 2 IN2 OUT2 Digital input 2 digital output 2 Brown 3 IN3 ...

Страница 41: ...and outputs used Inputs IN1 3 Field set switching IN4 EasyTeach teach in Outputs maximum output current Technical data page 51 OUT5 EasyTeach cut off path evaluation OUT6 Cut off path for subsequent evaluations OUT7 EasyTeach confirmed indicator signals teach in OUT8 Device ready indicator 24 V OUT8 0 V IN OUTx OUT7 OUT6 OUT5 24 V IN1 IN2 IN3 IN4 GND PWR 5 4 3 2 1 I O 8 7 6 5 4 3 2 1 Figure 39 Con...

Страница 42: ...Connecting the device electrically NOTICE Observe the wiring instructions see Wiring instructions page 36 and prerequisites for safe operation see Prerequisites for safe operation of the device page 37 1 Ensure the voltage supply is not connected 2 Connect the device according to the connection diagram see Connection dia gram page 39 Examples for the connection options see Connection options page ...

Страница 43: ...vice description file SDD SOPAS Device Description for this device You can install this within SOPAS ET using the device catalog The device description file is saved on the device and can be installed there Alternatively installation is possible from the SICK website Internet connection required Following installation of the device description file the device can be selected from the device catalo...

Страница 44: ...nts or lines Freely rotates scan display Changes the perspective of the LiDAR sensor Default Scan display left hand side entry of the device parameters as well as display of the IMU inertial measurement unit data entry of the mounting position as well as parameterization of the contamination indication right hand side Setup mode Optionally activate one of the four scan planes used for alignment Di...

Страница 45: ...play for adapting the field geometry left hand side and entering detection parameters right hand side OPERATION 7 8020494 1AZF 2021 05 10 SICK O P E R A T I N G I N S T R U C T I O N S MRS1000 45 Subject to change without notice ...

Страница 46: ...elete field Press the del pushbutton without first selecting a green han dle Insert new field function is only available if a field has not been created Select Insert field points tool click to set field vertices and double click last field vertex to close the field NOTE Fields are defined on the y global plane Depending on the mounting location of the device specified in the Default view the fiel...

Страница 47: ...ou must save it in the device permanently by pressing the Save permanent button NOTE For examples of using the software and the configuration options in the device window refer to the annex see Configuration with computer page 58 Terminal program description The terminal program is started in the main window of SOPAS via the Tools Terminal menu OPERATION 7 8020494 1AZF 2021 05 10 SICK O P E R A T ...

Страница 48: ...figure the device using the field contour teach in EasyTeach function rather than configuring it via SOPAS The teach in phase can be activated deactivated via an input circuit or SOPAS NOTE For an example of configuring the device using EasyTeach and for an input circuit refer to the annex Configuration without computer page 57 7 OPERATION 48 O P E R A T I N G I N S T R U C T I O N S MRS1000 80204...

Страница 49: ...ire ments Recommended At least every 6 months Specialist Check that all unused connections are sealed with protective caps Depends on ambient conditions and climate Recommended At least every 6 months Specialist 8 2 Cleaning NOTICE Equipment damage due to improper cleaning Improper cleaning may result in equipment damage Only use recommended cleaning agents and tools Never use sharp objects for cl...

Страница 50: ...s to the device by the customer will invalid ate any warranty claims against SICK AG 9 3 Returns b Only send in devices after consulting with SICK Service b The device must be sent in the original packaging or an equivalent padded pack aging NOTE To enable efficient processing and allow us to determine the cause quickly please include the following when making a return Details of the contact perso...

Страница 51: ...EN IEC 60825 1 2007 Complies with 21 CFR 1040 10 and 1040 11 except for devia tions pursuant to Laser Notice No 50 dated June 24 2007 Horizontal aperture angle 275 Vertical aperture angle 7 5 over 4 measurement levels Scan field flatness Conical error 0 6 Tilt 0 6 Scanning frequency 50 Hz 4x 12 5 Hz Angular resolution 0 25 0 125 interlaced mode 0 0625 interlaced mode Heating self heating Working r...

Страница 52: ...canning range for objects up to 10 Remission 16 m 40 40 80 60 20 20 0 Scanning range for objects up to 90 remission 30 m 80 60 275 80 80 Figure 42 Working area diagram top view 10 TECHNICAL DATA 52 O P E R A T I N G I N S T R U C T I O N S MRS1000 8020494 1AZF 2021 05 10 SICK Subject to change without notice ...

Страница 53: ...s motor start up Pmax 37 W with full specified current at all outputs Housing ALSi12 Optics cover PC Housing color MRSxxxxx xxxxx0 Light blue RAL 5012 MRSxxxxx xxxxx1 Gray RAL 7042 Enclosure rating MRSxxxxx 0xxxxx indoor IP65 IEC 60529 1989 AMD1 1999 AMD2 2013 MRSxxxxx 1xxxxx outdoor IP65 IP67 IEC 60529 1989 AMD1 1999 AMD2 2013 Protection class III IEC 61140 2016 11 Electrical safety IEC 61010 1 2...

Страница 54: ... 83 3 5 0 14 13 8 0 54 9 6 0 38 12 1 0 48 13 2 0 52 5 5 6 58 5 2 30 65 1 2 56 Figure 44 MRS1000 device structure and dimensions dimensions in mm 1 Receiver 2 Laser aperture angle layers 1 to 4 3 Status LEDs 4 Sender 5 M5x7 5 fixing holes 6 Pressure compensation element 7 Blind spot 8 Field of view 9 Ethernet connection ß I O connection à PWR connection supply voltage á M5x7 5 fixing holes â Close ...

Страница 55: ...s Ethernet TCP IP UDP IP Function HOST OPC NTP Measured data output distance RSSI Data transmission rate 10 100 Mbit s digital inputs outputs I O 8 multiport Output data Contamination indication IMU secondary sensor data Optical indicators 2 LEDs Configuration software SOPAS ET web server display 10 6 Ambient data Object remission 2 1 000 reflector Electromagnetic compati bility EMC EN 61000 6 2 2...

Страница 56: ... SICK Support Portal supportportal sick com registration required you will find besides useful service and support information for your product further detailed infor mation on the available accessories and their use 11 ACCESSORIES 56 O P E R A T I N G I N S T R U C T I O N S MRS1000 8020494 1AZF 2021 05 10 SICK Subject to change without notice ...

Страница 57: ...nical procedural electronic and physical levels of defense and provides suitable measures for different types of risks SICK s products and solu tions must be viewed as a component of this concept Information on Cybersecurity can be found at www sick com psirt 12 4 Configuration without computer 12 4 1 Field evaluation Configuration is performed by teaching in EasyTeach of the surrounding contour i...

Страница 58: ...the teach in phase active high 6 Thoroughly check correct detection of the field borders by performing a functional check in which For this purpose deliberately induce object detections 12 5 Configuration with computer The SOPAS ET configuration software from Version 3 3 3 is used as standard to display the surrounding contour measuring line recorded by the LiDAR sensor as well as diagnostic infor...

Страница 59: ...ram for the measured value request see the telegram listing no 8014631 under Send Data Permanently in Chapter 4 The tele gram consists of one part with information on the configuration of the device and the time stamp one part with measured data and a status part with information on the device status and the statuses of the inputs outputs After starting the measurement mode the device needs some t...

Страница 60: ...s page 51 Working range diagram side view Data output format of the measured values The data output format per scan is comprised of the configuration information meas ured values radial distance RSSI layer assignment device and status information and time stamp In the default settings the distance is output as a measured value in mm To output the reflectance values in the telegram Open the device ...

Страница 61: ...sistance of the mouse pointer Alternatively the field vertices can also be customized by entering the coordinate values in the Field coordinates mask Function Procedure Scale field Drag square red handle Rotate field Drag round black handle Customize field shape Drag square green handle Add field vertices Double click in required position Remove field vertex Click to select the square green handle...

Страница 62: ...ch output it is necessary to define whether it is to be switched by the field evaluation application or by means of SOPAS ET telegrams or whether it is being used to signal device readiness If the field evaluation application is being used to switch an output the sensor may signal evaluation field breaches or contour breaches In SOPAS ET you can configure which evaluation affects which output 12 5...

Страница 63: ...ANNEX 12 8020494 1AZF 2021 05 10 SICK O P E R A T I N G I N S T R U C T I O N S MRS1000 63 Subject to change without notice ...

Страница 64: ...8080 7425 E Mail enquiry my sick com Mexico Phone 52 472 748 9451 E Mail mexico sick com Netherlands Phone 31 0 30 229 25 44 E Mail info sick nl New Zealand Phone 64 9 415 0459 0800 222 278 tollfree E Mail sales sick co nz Norway Phone 47 67 81 50 00 E Mail sick sick no Poland Phone 48 22 539 41 00 E Mail info sick pl Romania Phone 40 356 17 11 20 E Mail office sick ro Russia Phone 7 495 283 09 90...

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