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8024592/2019-08| SICK
O P E R A T I N G I N S T R U C T I O N S | NAV210
Subject to change without notice
PRODUCT DESCRIPTION
3
3.6
Output of measured values
Fig. 10: View of scanning angle
The measured values can be transferred to a connected computer system and evaluated
there (“Communicating data via telegrams” on page 23). The host can compute the
position of the automated guided vehicle using these measured values.
Navigation by means of the measured surrounding contour is useful at locations where no
reflectors can be fixed, such as in the cargo area of a truck.
The NAV210 outputs the following measured values on its data interface:
•
Profile of the field of view in two-dimensional polar coordinates
•
Content of a rotation (270°), e.g., starting angle of the scan, increment, time stamp for
the start of the scan, number of measured values, value and direction of the measured
distance, remission value of the measured object.
Important
It is only possible to output all measured values of a 270° scan in real-time using the
Ethernet interface.
3.7
Integrating the NAV210 into the control system of an automated guided vehicle
Recommendation
Integrating a NAV210 into the control system of an automated guided vehicle requires in-
depth programming knowledge in the area of vehicle control. You also need knowledge on
exchanging data between a 2D LiDAR sensor like the NAV210 and the vehicle computer.
SICK AG offers in-depth training on request.
3.7.1
Data interfaces
The NAV210 has a serial host interface and an Ethernet interface. You can configure the
NAV210 via these interfaces with the help of SOPAS ET. The NAV210 also communicates
with the automated guided vehicle's computer via its interfaces.
3.7.2
Communicating data via telegrams
The NAV210 sends telegrams over the interfaces described above to communicate with a
connected vehicle computer. The following functions can be carried out with telegrams:
•
Setting parameters via the automated guided vehicle's computer to configure the
NAV210
•
Retrieving parameters and status protocols via the automated guided vehicle's computer
•
Requesting contour measured value via the automated guided vehicle's computer,
subsequent answer from the NAV210
270°
180°
0°
90°
