IFM O3M150 Software Manual
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IFM O3M150 Software Manual

Vision assistant for mobile 2d/3d sensors
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Software Manual
ifm Vision Assistant
for mobile 2D/3D sensors
UK
O3M150
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Summary of Contents for IFM O3M150

  • Page 1 Software Manual ifm Vision Assistant for mobile 2D/3D sensors O3M150 O3M151 O3M160 O3M161 O3M250 O3M251 O3M260 O3M261...

  • Page 2: Table Of Contents

    Vision Assistant O3M Contents 1 Preliminary note . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6 1 .1 Symbols used .
  • Page 3 Vision Assistant O3M 10 Image settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .70 10 .1 Live image display .
  • Page 4 Vision Assistant O3M 14 .8 CAN data for vehicle movement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .134 15 Logic editor .
  • Page 5 All trademarks and company names used are subject to the copyright of the respective companies . This device contains (maybe modified) open source software which is subject to special licensing terms . For copyright information and licensing terms please refer to: www .ifm .

  • Page 6: Preliminary Note

    ● Setting up the applications using the ifm Vision Assistant ● Monitoring the applications with the ifm Vision Assistant As soon as an application has been installed on the device, the device can be operated without the ifm Vision Assistant .

  • Page 7: System Requirements

    ● Firmware LG: 4 .21 .x The required software can be found at www .ifm .com Other versions of the ifm Vision Assistant may contain changed or new functions which are not described in this software manual . 2.2 Hardware and accessories The following hardware is required for operation: ●...

  • Page 8: Installation

    Vision Assistant O3M 3 Installation 3.1 Hardware The mobile 3D sensor is operated as a system together with the illumination unit . During installation note the following: ► Operate sensor and illumination unit in conjunction . ► Install sensor and illumination unit between 0 and 2 .80 m apart .

  • Page 9: Software (Ifm Vision Assistant)

    Vision Assistant O3M 3.3 Software (ifm Vision Assistant) ► Insert the data carrier with the ifm Vision Assistant software . Alternative: Download ifm Vision Assistant software from the ifm website: www.ifm.com → Service → Download ► Copy the Zip file "ifmVisionAssistant" into an appropriate directory on the PC and unzip .

  • Page 10: Start Page

    Vision Assistant O3M 4 Start page On the start page, the basic functions of the ifm Vision Assistant can be selected . Basic functions of the start page: Symbol name Function The device must be connected Find sensor Connection with the new added device .

  • Page 11: Find Sensor

    4.1.1 Direct search ► Click > The ifm Vision Assistant searches for connected devices via the Ethernet connection . > All devices found are shown in a list for selection . If there is a CAN bus connection, the CAN settings are shown additionally .
  • Page 12 Vision Assistant O3M Buttons and notifications after the direct search: Button and notification Description Starts a new search . Makes it possible to enter the IP address manually (→ „4.1.2 Manual connection“). Shows connection settings of the CAN bus such as IP address, name of the device and the firmware version .

  • Page 13: Manual Connection

    ► Select "O3M manual connection" . ► Enter the IP address of the device (standard: 192 .168 .0 .69) . ► Click on [Connect] . The IP addresses of device and PC with ifm Vision Assistant must be in the same subnet .

  • Page 14: Recent

    ► Ensure that the corresponding device is connected with the PC via Ethernet or available in the network . ► Click on the device in the selection list . > The ifm Vision Assistant establishes a connection with the device .

  • Page 15: Replay

    Vision Assistant O3M 4.3 Replay With this function, data that has been recorded can be viewed (→ „6 Monitoring window“). No connection to a device is needed . ► Click ► Select the required file (* .dat) and click on [Open] .
  • Page 16 Vision Assistant O3M Options on the playback screen: Option / button Description Replay Stops playback . controls pause Stops playback and shows the previous picture . Down Stops playback and shows the next picture . Continues playback . Start Progress bar Indicates the current position in the recording .

  • Page 17: Wiring

    Vision Assistant O3M 4.4 Wiring This function allows correct wiring of the voltage supply of the 5-pole connector . ► Click ► Selected article [O3M] . > Only necessary if a new device has been selected . ► Click on the selection field [Article number] and select a connection cable from the selection list .

  • Page 18: Settings

    Switches between full screen (on) and window view (off) . Full screen is set by default . With the F11 key, you can switch between full screen and window view at any time . 4.6 Close ► Click on to quit the ifm Vision Assistant .

  • Page 19: Structure Of The User Surface

    Vision Assistant O3M 5 Structure of the user surface The screen of the ifm Vision Assistant has the following areas: navigation bar: In the navigation bar on the left, the required option can be selected (→ „5.1 Navigation bar“).

  • Page 20: Navigation Bar

    Opens the "Settings" window (→ „4.5 Settings“). Disconnects the ifm Vision Assistant from the device . Disconnect The ifm Vision Assistant returns to the start screen . 5.2 Status bar The status bar at the bottom of the screen gives the following information: ●...

  • Page 21: Monitoring Window

    Vision Assistant O3M 6 Monit oring window The monitoring window is activated via the [Monitor] button . The unit is in the operating mode . In the monitoring window, the running application can be monitored but neither interrupted nor changed .

  • Page 22: View

    Vision Assistant O3M 6.1.1 2D View ► Click to show the 2D view . ► Adjust the 2D view . The following settings are available in the tab "View options": Button Name Description Distance image Visualises the pixels in the 2D view in relation to the distance values .
  • Page 23 Vision Assistant O3M Distance image ► Click to display the distance image . Amplitude image ► Click to display the amplitude image . ► Select the required view via [Logarithmic] or [Linear] .
  • Page 24 Vision Assistant O3M Logarithmic view: Linear view:...
  • Page 25 Pixel detected as disturbed (interference can be produced by neighbouring O3Ms) Spray / fog / dust detected Filtered according to distance (if the pixel is outside the set distance, the ifm Vision Assistant is marked as invalid . ) ► Click to open the "pixel properties"...

  • Page 26: 2D3D View

    Vision Assistant O3M 6.1.2 2D3D view The 2D3D view is only possible with the O3M2xx devices . ► Click to show the 2D3D view . ► Adjust the 2D3D view . The following settings are available in the tab "View options":...
  • Page 27 Vision Assistant O3M Spatially filtered 3D data ► Click to activate the spatially filtered 3D data . > Which 3D data is to be spatially filtered can be configured in chap. „10.11 Measuring range“. Pixel ► Click to display the distance values per pixel .
  • Page 28 Vision Assistant O3M Visible 3D range ► Click to activate the visible 3D range . > The area outside the visible 3D range is visualised in a darker shade . 2D preview ► Click to show the 2D data as an overlay within the 2D3D view .

  • Page 29: View

    Vision Assistant O3M 6.1.3 3D view The 3D view is a visualisation of the 3D views of the device and the illumination unit . The individual vision cones of the 3D views have different colours: ● Device: green ● Illumination unit: light green ►...
  • Page 30 Vision Assistant O3M Button Name Description Surface model Shows the ascending slopes as colour gradients . 2D preview Shows the 2D data as an overlay within the 3D view . Default view 1 Turns the 3D view to the xy level .
  • Page 31 Vision Assistant O3M Amplitude image ► Click to display the amplitude image . ► Select the required view via [Logarithmic] or [Linear] . Visualisation in the 3D image Description Pixel position Space coordinate of the point (x, y, z coordinates) .
  • Page 32 Vision Assistant O3M Views in the coordinate system The 3D view can be turned into a preset view in the coordinate system . ► Click to show the rear view . > The object is shown on the yz level .
  • Page 33 Vision Assistant O3M ► Click to show the side view . > The object is shown on the xz level . Visualisation pattern ► Click to show the 3D view as a pixel cloud .
  • Page 34 Vision Assistant O3M ► Click to show the 3D view as a grid . ► Click to show the ascending slopes in the 3D view as a surface model .

  • Page 35: Slider Bar

    Vision Assistant O3M 6.1.4 Slider bar With the slider bar, the colour range of the display can be set manually . The results of the application are not changed by it . ● Distance image: Measuring range in metres (from-to) ●...

  • Page 36: Recording

    CAN data . > The "Save As" window opens with a standard storage location and standard file name: ● Standard storage location: "…\ifm electronic\ifmVisionAssistant\capture" (the exact and complete storage location depends on the Windows version and settings) ●...
  • Page 37 Vision Assistant O3M ► Click [Save] . > The recording starts and the recorded time is displayed next to the button . Example: 1 minute and 5 seconds of the set 2 minutes are displayed as 01:05/02:00 . > The recording ends automatically as soon as the set recording time is reached . In case the duration is set to "infinite", the recording is limited by the free memory capacity of the data carrier .

  • Page 38: Service Options

    Vision Assistant O3M 6.3 Service options Via the service options function, the error memory and the system overview can be displayed . The service options contain software and hardware information that can be displayed and stored . The error memory and the system overview are used to analyse service requests .
  • Page 39 Vision Assistant O3M Show system overview ► Click on [Show system overview] . > The "System status" window appears . ► Click on [Export system status] to save the system overview . ► Click on [X] to close the system overview .

  • Page 40: Device Setup

    Vision Assistant O3M 7 Device setup In the device setup, the basic settings of the device and the applied networks is set . ► Click > The "Device setup" screen appears . Configurations in the device setup: ● Device (→ „7.1 Device“) ●...

  • Page 41: Device

    Vision Assistant O3M 7.1 Device In the "Device" window, basic settings of the device can be made . ► Click on [Device] . > The "Device" window appears . Functions Field Button Description Name – Editable field to set the device name...
  • Page 42 Vision Assistant O3M ► Click on [Start] .
  • Page 43 Vision Assistant O3M Button Name Description Use the setting "stationary" for the installation on: ● stationary vehicles ● objects ● moving vehicles that are stationary during device operations Stationary With the setting "stationary", higher averaging settings can be used (→...
  • Page 44 Vision Assistant O3M Button Name Description Use the "Outdoors" setting if strong environmental influences are to be expected in the application . The setting affects the: ● Filter signal quality (→ „10.3 Signal quality filter“) ● Noise reduction filter (→ „10.4 Noise reduction filter“) Application Use the "Indoors"...
  • Page 45 Vision Assistant O3M The result settings affect the connection of the device within the application . The connection settings between ifm Vision Assistant and the device are described in chapter „4.1.2 Manual connection“. Button Name Description Use the "CAN" setting if the measurement results of the application are transferred via CAN .
  • Page 46 Vision Assistant O3M The "moving vehicle" setting In the following, the general setting "moving vehicle" is described . Button Name Description Set the speed of the vehicle . The setting affects the: Intelligent data averaging (→ „10.9 Intelligent data averaging“).
  • Page 47 Vision Assistant O3M Button Name Description Set the frame rate of the device according to the ambient temperature: ● 85°C: Frame rate of 25 Hz ● 75°C: Frame rate of 33 Hz ● 65°C: Frame rate of 50 Hz Ambient temperature Always use the highest possible frame rate .
  • Page 48 Vision Assistant O3M The result settings affect the connection of the device within the application . The connection settings between ifm Vision Assistant and the device are described in chapter „4.1.2 Manual connection“. Button Name Description Use the "CAN" setting if the measurement results of the application are transferred via CAN .
  • Page 49 Vision Assistant O3M ► Click on [Ready] . > The setting of the device via the assistant "General sensor settings" is finished .

  • Page 50: Firmware Update

    ► Select the required firmware file (* .fcr) . ► Click on [Open] . > The firmware is being updated . After that, the ifm Vision Assistant re-establishes the connection to the device . After the firmware update, the following window appears: Start the assistant by clicking on [Ok] in order to adjust the settings for the corresponding applications .

  • Page 51: Export Settings

    Vision Assistant O3M 7.1.4 Export settings With the "Export" function, all settings and applications are exported from the device to the PC . ► Click on [Export] to start the export of the settings . > The "Save As" window appears .

  • Page 52: Reboot The Sensor

    ► Click on [Reboot the sensor] . > The device reboots . > The ifm Vision Assistant establishes a new connection with the device . The ifm Vision Assistant establishes a new connection with the device . ► If the new connection to the device fails, search the device via on the start screen or connect it manually .

  • Page 53: Online Parameter Setting

    [Save] . The changes are stored in a non volatile partition of the RAM and will be visible after approx . 15 seconds . "Online parameterisation" is deactivated by default . "Online parameterisation" can be used by controllers (CAN controllers) . Adequate libraries are available for ifm mobile controllers with CAN input (→ „16.3 Connect O3M to external devices“).

  • Page 54: Can Settings

    Vision Assistant O3M 7.2 CAN settings In the "CAN settings" window, different parameters of the CAN bus can be set . ► Click on [CAN settings] . > The "CAN settings" window appears . Functions Field Description Selection menu to set the CAN protocol:...

  • Page 55: Ethernet

    Vision Assistant O3M Field Description Selection menu to set the behaviour of several sensors on one CAN bus . To synchronise several devices, one device is set as "Exposure Master" . The Exposure Master sends sync Synchronisation messages to further devices .
  • Page 56 ► Click to save the changes . > The ifm Vision Assistant writes the new settings to the device . > The ifm Vision Assistant establishes a new connection with the device: ► If the new connection to the device fails, search the device via on the start screen or connect it manually .

  • Page 57: Device Information

    Applied hardware, installed firmware version and the application Status Device status Temperature Temperature of the device and the illumination unit Connection The type of connection between the ifm Vision Assistant and the device Voltage Terminal voltage of the device and the illumination unit...

  • Page 58: Calibration Settings

    Vision Assistant O3M 9 Calibration settings In the calibration settings, the device can be calibrated for the intended application . ► Click > The calibration settings are shown . 1: 3D view from above (not adjustable) 2: 3D view (freely adjustable) 9.1 What is calibration?
  • Page 59 Vision Assistant O3M In the figure below, the significance of the world coordinate system is outlined as an example . The provided 3D coordinates are always provided in the calibrated world coordinate system . This makes it possible that the processing of the coordinate positions can take place regardless of the installation position and angle of the device .

  • Page 60: World Coordinate System

    The world coordinate system is defined as a right-handed, right-angled coordinate system . In the ifm Vision Assistant, the pixels are always drawn in the currently set world coordinate system . The world coordinate system is represented with its three axes (1) . The coordinate origin is represented by a cross (2) .

  • Page 61: Position Of The Device

    Vision Assistant O3M 9.4 Position of the device The following describes how the position of the device is indicated in the ifm Vision Assistant . The following explanations refer to a reference surface to which the device is oriented . For vehicles, the reference surface is, in most cases, the road surface .
  • Page 62 Vision Assistant O3M Example The following figure illustrates how to apply the world coordinate system to an application . The reference point, the origin of the world coordinate system, is set in the front axle of the vehicle (grey cross) .

  • Page 63: Reference Point Of The Illumination Unit

    The illumination unit shines in the direction of the measuring range . The visible range of the illumination unit is indicated light green in the ifm Vision Assistant . Usually, the device and the illumination unit are mounted next to each other .

  • Page 64: Mounting Angle Of The Device

    Vision Assistant O3M Absolute in the world coordinates: The position of the illumination unit (1) is specified with the absolute coordinates of the world coordinate system . Relative to the sensor: the position of the illumination unit (1) is specified in relation to the device (2) in the world coordinate system .

  • Page 65: Normal Mode

    Vision Assistant O3M 9.7.1 Normal mode In the normal mode, the angle of pitch and the angle of rotation can be set . The angle of roll is not specified . It is best to mount the device with an angle of roll of 0 degrees .

  • Page 66: Automatic Calibration

    Vision Assistant O3M The overall rotation is calculated by multiplying the rotation matrices . The rotations around the X, Y and Z axis are described by the rotation matrices R_x, R_y and R_z . The rotation matrices R_x, R_y and R_z are formed internally from the Euler angles that are entered in the input boxes .
  • Page 67 Vision Assistant O3M After the automatic calibration is released, the following note appears . Please read the note and confirm by clicking "Ok" . If the automatic calibration is released, the following status information and settings are displayed .
  • Page 68 Vision Assistant O3M The markings (1) show objects in the search zone that interfere with the automatic calibration . ► Reduce the search zone with the setting bar (2) . In the following figure, the search zone has been limited . The interfering objects are not considered .

  • Page 69: Equipment Failure Causes

    Vision Assistant O3M ● The colours yellow and orange signalise that the automatic calibration is not yet satisfactory . ● The colour green signalises that the automatic calibration will be successful . The colours change during the automatic calibration .

  • Page 70: Image Settings

    Vision Assistant O3M 10 Image settings In the image settings, the image of the device can be changed with different filters and parameters . The image settings are divided into three areas: 1: Live image display (→ „10.1 Live image display“)

  • Page 71: Live Image Display

    Vision Assistant O3M 10.1 Live image display The live image display shows the live image of the device in 2D or 3D . In the default 2D view, the live image in the three views is displayed simultaneously: ● Distance: The pixels are shown in colour depending on the distance value .

  • Page 72: Pixel Properties

    Vision Assistant O3M 10.1.1 Pixel properties In the 2D view, the properties of a selected pixel can be displayed . In the figure above, the pixel in column 0 and row 0 is selected . The pixel properties contain the following values of a pixel:...

  • Page 73: Applying Filters

    Vision Assistant O3M 10.2 Applying filters The setting of the filters depends on the application and the environment . The filters must be set separately for each application . When setting the filters, several aspects must be considered .

  • Page 74: Noise Reduction Filter

    Vision Assistant O3M The filtered pixels are invalid (pixel properties set to 0) and cannot be used for applications . The "signal quality filter" additionally filters noisy pixels with medium and high sensitivity . Do not use the "noise reduction filter" simultaneously since otherwise too many invalid pixels will be filtered .

  • Page 75: Detection Of Spray/Fog/Dust

    Vision Assistant O3M 10.5 Detection of spray/fog/dust "Spray/fog/dust detection" can mark recognised pixels as spray/fog/dust (→ „10.1.1 Pixel properties“). Spray may distort the measurement results . Spray is: ● dust ● humidity / fog ● particle clouds The distortion of measurement results caused by spray can be reduced by increasing the lateral distance between the device and the illumination unit .

  • Page 76: Soiling Detection

    Vision Assistant O3M 10.6 Soiling detection The "Soiling detection" recognises soiling of the device's front screen . A soiled front screen leads to incorrect measuring results . A dedicated LED regularly checks the permeability of the front screen and detects soiling .

  • Page 77: Removal Of Soiling

    Vision Assistant O3M 10.6.2 Removal of soiling Depending on the soiling, use one of the following methods of removal: Dirt Method of removal ► scratch the ice off carefully or ► wait until the device is warmed up and the ice has melted...

  • Page 78: Modulation Frequency Mode

    Vision Assistant O3M 10.8 Modulation frequency mode The "Modulation frequency mode" enables the use of several devices in the same field of view . Each device uses several modulation frequencies to increase the range . If more than one device is needed for an application, interferences may occur .

  • Page 79: Random Modulation Frequencies

    Vision Assistant O3M 10.8.2 Random modulation frequencies The random modulation frequencies apply a method that changes the frequency with each image (arbitrary frequency hopping) . The frequencies are selected randomly . The frequency set with random selection of modulation frequencies is suited for applications with the following properties: ●...

  • Page 80: Intelligent Data Averaging

    Vision Assistant O3M 10.9 Intelligent data averaging The "intelligent data averaging" accesses raw data of the device and calculates an average value of the raw data . Typical applications are: ● Signal noise reduction (→ „10.9.2 Example of a signal noise reduction“) ●...

  • Page 81: Operating Principle

    Vision Assistant O3M 10.9.1 Operating principle The device can calculate average values in two different ways: ● Basic functions (→ „11 2D overlay“) ● Intelligent data averaging For the calculation of average values via the basic functions, only the valid pixels in an ROI are used .

  • Page 82: Example For Increasing The Number Of Valid Pixels

    Vision Assistant O3M 10.9.3 Example for increasing the number of valid pixels In the following, you find an example of how the intelligent data averaging increases the number of valid pixels . Example Description The device is oriented towards a car park with cars .

  • Page 83: Reflector Threshold Value

    Vision Assistant O3M 10.10 Reflector threshold value The filter "Reflector threshold value" can filter pixels of bright objects . It does not matter how far the pixels are away . Typical applications are: ● Filtering image zones with bright objects The filter "Reflector threshold value"...

  • Page 84: Measuring Range

    Vision Assistant O3M 10.11 Measuring range ① The measuring range isolates the data which is to be used for further calculations . If the measuring ① range is set, only the data within the min/max values are used for further calculation . The data outside the min/max values is abandoned and is available for further functions .

  • Page 85: Exclusion Area

    Vision Assistant O3M 10.11.1 Exclusion area ② In addition to the measuring range, up to two exclusion areas can be set within the measuring ① range . The data within the min/max values are excluded from further calculations . This ignores, for example, attachments in the visible range .

  • Page 86: Overlay

    Vision Assistant O3M 11 2D overlay The 2D overlay is a function which is available for each firmware . Some functions of the 2D overlay require a specific type of firmware (→ „7.1.3 Firmware update“). The 2D overlay is only available for the O3M2xx devices .

  • Page 87: Overlay Options

    Vision Assistant O3M 11.1 Overlay options With the "overlay options", the way the 2D image is displayed can be set . The "2D output on" switch activates the output of the 2D image . If the switch is in the off position, no image is provided via the analogue video interface of the device .

  • Page 88: Add Text

    Vision Assistant O3M 11.2.1 Add text The [Add text] button changes the mouse pointer into a cross hair . After that, a text can be added to the "Preview of the 2D overlay" by clicking . By clicking on , the text can be edited and the following window opens .

  • Page 89: Adding A Vector

    Vision Assistant O3M In the list "Visible", the visibility of the text can be set . The visibility of the text can be coupled to the conditions of the device . The available conditions depend on the installed firmware (→ „7.1.3 Firmware update“).

  • Page 90: Adding A Graphic

    Vision Assistant O3M 11.2.3 Adding a graphic. The following buttons add a graphic to the "Preview of the 2D overlay" . The [Add] button opens the file selection which is used to add further graphics to the selection shown below .

  • Page 91: Live Ticker

    Vision Assistant O3M The available conditions depend on the installed firmware (→ „7.1.3 Firmware update“). The following conditions are available in each firmware: ● Static ● Operation Mode ● Availability ● Digital I/O By clicking on ,the graphics is deleted from the selection, but it stays in the device .

  • Page 92: Variant Options Of The Od Firmware

    Vision Assistant O3M The available conditions depend on the installed firmware (→ „7.1.3 Firmware update“). The following conditions are available in each firmware: ● Static ● Operation Mode ● Availability ● Digital I/O Clicking on deletes the live ticker . The live ticker can be restored .

  • Page 93: Variant Options Of The Di Firmware

    Vision Assistant O3M 11.4 Variant options of the DI firmware The variant options contain options to display 3D objects in the 2D overlay . The available options depend on the installed firmware (→ „7.1.3 Firmware update“). The following options require the DI firmware basic functions .
  • Page 94 Vision Assistant O3M In the list "colour mode", the behaviour of the colours of the colour overlay can be set . The following colour modes are available: ● [Colour map] The colour changes with the set reference value .
  • Page 95 Vision Assistant O3M Colour mode [Colour switch] In the colour mode [Colour switch], there is a change between 2 colours when a threshold is reached . In the figure on the left, the output of 4 ROI groups and the X and Y values are visualised as a colour change .
  • Page 96 Vision Assistant O3M Colour mode [Logic output] In the colour mode [Logic output] the colour changes in relation to the condition of the virtual digital outputs of the ROI groups . When using the standard logic of the device, the virtual output with the number of the ROI group is used .
  • Page 97 Vision Assistant O3M Colour mode [defined colour] In the colour mode [defined colour], the colour setting is fixed and does not change . In the figure on the left, the outputs of 4 ROI groups are shown as defined colour .

  • Page 98: Visualisation Of 3D Rois As A Projection On The Floor

    Vision Assistant O3M 11.4.2 Visualisation of 3D ROIs as a projection on the fl oor The ROI visualisation type "3D floor projection" shows the provision of the ROI groups in the x, y and z axis (length and width) as a coloured overlay .
  • Page 99 Vision Assistant O3M Colour mode [Colour map] In the colour mode [Colour map], the colour changes with the set reference value . The "reference value" defines with which output of the ROI group the "moving reference line" shifts . The following reference values can be selected: ●...
  • Page 100 Vision Assistant O3M Colour mode [Colour switch] In the colour mode [Colour switch], there is a change between 2 colours when a threshold is reached . The "reference value" defines with which ROI group output the "moving reference line" shifts . The following reference values can be selected: ●...
  • Page 101 Vision Assistant O3M Colour mode [Logic output] In the colour mode [Logic output] the colour changes in relation to the condition of the virtual digital outputs of the ROI groups . When using the standard logic of the device, the virtual output with the number of the ROI group is used .
  • Page 102 Vision Assistant O3M Colour mode [defined colour] In the colour mode [defined colour], the colour setting is fixed and does not change . The "reference value" defines with which ROI group output the "moving reference line" shifts . The following reference values can be selected: ●...

  • Page 103: Visualisation Of 2D Rois

    Vision Assistant O3M 11.4.3 Visualisation of 2D ROIs The ROI visualisation type "2D ROI" visualises the output of the ROI group as a coloured overlay . "Output" refers to the measuring result of the ROI group (→ „12.2 Global settings“).
  • Page 104 Vision Assistant O3M Colour mode [Colour map] In the colour mode [Colour map], the colour changes with the set reference value . The "reference value" defines which output of the ROI groups is used as a basis for the colouring of the overlay . The following reference values can be selected: ●...
  • Page 105 Vision Assistant O3M Colour mode [Colour switch] In the colour mode [Colour switch], there is a change between 2 colours when a threshold is reached . The "reference value" defines which output of the ROI groups is used as a basis for the colouring of the overlay .
  • Page 106 Vision Assistant O3M Colour mode [Logic output] In the colour mode [Logic output] the colour changes in relation to the condition of the virtual digital outputs of the ROI groups . When using the standard logic of the device, the virtual output with the number of the ROI group is used .

  • Page 107: Di Firmware - Basic Functions

    Vision Assistant O3M 12 DI firmware - basic functions The basic functions are a function of the DI firmware (→ „7.1.3 Firmware update“). With the basic functions ● the ROIs can be set up (region of interest), ● the ROIs can be grouped together, ●...

  • Page 108: Global Settings

    Vision Assistant O3M Only one class can be active at a time . There are two different classes of ROIs: ● 3D definition (preset) ● Pixel definition ● off The "3D definition" works with 3D data . The applied ROIs are defined in the world coordinate system . For the 3D definition, devices with 3D capabilities, such as the O3M151, are required .

  • Page 109: Several Rois

    Vision Assistant O3M 12.3 Several ROIs With "Several ROIs", a three-dimensional grid of ROIs is generated . The button [Create ROI grid] opens the following window with which a grid of several ROIs can be created . The window is divided into six areas: 1 .

  • Page 110: Min/Max Values And Separation

    Vision Assistant O3M 12.3.1 Min/max values and separation The following figure shows the effect of the settings on the ROI grid . The "min/max values" for the x, y and z axis indicate the position of the grid in the world coordinate system .

  • Page 111: Result Type

    Vision Assistant O3M 12.3.2 Result type With the "result type", the result type for the pixels of the ROI group is set . For each ROI group, one of the following results can be set: ● [Min] The figure on the left shows the result type "Min" with a 3D ①...

  • Page 112: Output Value

    Vision Assistant O3M 12.3.3 Output value The field changes according to the set "result type" . ● Result type "min": The following output values can be provided: ● [Absolute min] ● [2nd lowest] ● [3rd lowest] ● [4th lowest] ●...
  • Page 113 Vision Assistant O3M ● Result type "percentile": For the result type "percentile", the percentile value can be set . A percentile is, like the quantile, a threshold value, but in case of the percentile, the distribution is given as a percentage .
  • Page 114 Vision Assistant O3M Define percentile values In the following, the definition of percentile values is = 100 % / N explained . ± P * 0 .5 N: Number of the sets to be expected (in the example above: Set = number of walls = 2)

  • Page 115: Reference Value For Min/Max

    Vision Assistant O3M 12.3.4 Reference value for min/max With "Reference value for min/max", the output value is limited by only providing certain values in relation to the reference value . The "reference value for min/max" refers to the set result type (→ „12.3.2 Result type“) and output value (→...
  • Page 116 Vision Assistant O3M Example: ● Set result type: "min" ● Set output value: "absolute min" ● Set reference value for min/max:"x" (x , y , z , A = 1) The pixel (x ) is provided . (x , y , z , A = 5) ●...

  • Page 117: Existing Rois

    Vision Assistant O3M 12.3.5 Existing ROIs With "Existing ROI" you can set what is supposed to happen with ROIs which exist before the ROI grid is set . The following behaviour can be set: ● "Replace": Already existing ROIs are deleted .

  • Page 118: Rois

    Vision Assistant O3M 12.5 ROIs With the "ROIs", new ROIs can be set up. The ROIs are assigned to the ROI groups (→ „12.4 ROI groups“). ROIs are image zones and contain the pixels to be processed . An ROI or several ROIs are grouped together .

  • Page 119: Firmware Od - Object Detection

    Vision Assistant O3M 13 Firmware OD - object detection The object detection is a function of the OD firmware (→ „7.1.3 Firmware update“). The object detection detects objects and classifies them according to the setting . The object detection detects two different types of objects: ●...
  • Page 120 Vision Assistant O3M The following settings are available for the object recognition . With the object detection type, you can set which objects are to be detected and classified . The following object detection types can be set: ● Standard (unclassified) ●...

  • Page 121: Collision Avoidance

    Vision Assistant O3M 13.2 Collision avoidance The application "Collision avoidance" uses movement-related information to avoid collisions . If the movement-related information of the vehicle is provided, the accuracy of the collision avoidance increases . The collision avoidance is divided into three areas: 1: Live image display (→...

  • Page 122: The "Intelligent" Collision Avoidance Mode

    Vision Assistant O3M 13.2.1 The "intelligent" collision avoidance mode The collision avoidance mode "intelligent" uses the movement-related information of the objects and the vehicle . For this, the device needs cyclic vehicle data via the CAN bus in the J1939 protocol .
  • Page 123 Vision Assistant O3M With the "Collision avoidance settings", the collision avoidance can be set . The reliability of the collision avoidance increases if the settings correspond with the properties of the vehicle . The "Sensitivity of crash prediction" indicates how sensitive the reactions of the collision avoidance are supposed to be .
  • Page 124 Vision Assistant O3M With "Vehicle size in world coordinates", the size of the vehicle can be specified and the reference point set . The reference point is the origin of the coordinate system . The reference point must be on the ground, in the middle of...

  • Page 125: Collision Avoidance Mode "Intelligent With Side Collision

    Vision Assistant O3M 13.2.2 Collision avoidance mode "Intelligent with side collision" The collision avoidance mode "Intelligent with side collision" uses the movement-related information of the objects and the vehicle . For this, the device needs cyclic vehicle data via the CAN bus in the J1939 protocol .

  • Page 126: Collision Avoidance Mode "Zone-Based

    Vision Assistant O3M 13.2.3 Collision avoidance mode "zone-based" The collision avoidance mode "zone-based" uses the movement-related information of the objects . For the object recognition, three zones can be set in the world coordinate system . The collision avoidance mode "zone-based" is used if no movement-related information of the vehicle is provided via the CAN bus .
  • Page 127 Vision Assistant O3M With "Size of zone 1", the size and position of the first zone can be set . The first zone has highest priority (red colour in the screenshot) . Object in the second zone treated as critical .
  • Page 128 Vision Assistant O3M With the "Collision avoidance settings", the collision avoidance can be set . The reliability of the collision avoidance increases if the settings correspond with the properties of the vehicle . The "Sensitivity of crash prediction" indicates how sensitive the reactions of the collision avoidance are supposed to be .

  • Page 129: Firmware Lg - Line Guidance

    Vision Assistant O3M 14 Firmware LG - line guidance The line guidance is a function of the LG firmware (→ „7.1.3 Firmware update“). With the line guidance, the device recognises the lines in the visible area and compares them with the driving direction . If the recognised line is within the set parameter, the driving direction is readjusted accordingly .

  • Page 130: Max. Angle To The Driving Direction

    Vision Assistant O3M 14.1 Max. angle to the driving direction The filter "Max . angle to driving direction" compares recognised lines with the driving direction . If the angle of the recognised line exceeds the set value in relation to the driving direction, the line will be filtered out .

  • Page 131: Automatic Ground Plane Detection

    Vision Assistant O3M With "Max width 3D line structure", the minimum width of the filter is set (see ③ in the illustration) . The data above the value is filtered and no longer processed . The settings of the "3D line structure" filter are visualised graphically from the perspective of the device: ①...

  • Page 132: Search Area For Line Detection

    Vision Assistant O3M 14.4 Search area for line detection The filter "search area for line detection" restricts the search for line structures to a rectangular search area . The line structures outside the search range are ignored . In the following figure, the set search range is highlighted in yellow .

  • Page 133: Additional Crop Edge Settings

    Vision Assistant O3M 14.5 Additional crop edge settings With "Additional crop edge settings", the mode of the line guidance can be set . Two modes are available: ● Line type [Windrow] ● Line type [Crop edge] The set line type is used for the line guidance .

  • Page 134: Steering Computation

    Vision Assistant O3M 14.7 Steering computation With the "steering computation", the standard output format for recognised line structures is set . The standard output format is set via CAN and Ethernet and contains, among other things, the following information: ●...
  • Page 135 Vision Assistant O3M The following table contains information about the structure of the J1939 messages . Name Message Start Length Value Factor Offset Min. Max. Unit Comment Standard [bit] type Message Wheel EBS21 unsigned 0 . 0 0390625 0...

  • Page 136: Logic Editor

    Vision Assistant O3M 15 Logic editor On the "Logic" screen, sensor signals and CAN input signals are calculated, compared and combined into results . For example, the sensor signals can contain object properties, line information and results of ROI groups .

  • Page 137: Place And Connect Modules

    Vision Assistant O3M 15.2 Place and connect modules ► Click on > The "Logic" screen is displayed . The logic editor is divided into five areas: 1: Main area 2: Information area 3: Selection area 4: Overview area 5: Result area...

  • Page 138: Generate Example

    Vision Assistant O3M 15.2.1 Generate example This function is intended for users who have no or little experience in creating output logics . ► Click [Generate example] . > An output logic suitable for the sensor parameterisation is generated as an example .

  • Page 139: Set A Module

    Vision Assistant O3M 15.2.4 Set a module A module can be set if a drawing pen is displayed below the module . ► Click on the module . ► Click on pen . > A window with the settings opens . Depending on the module, a list and an input field are used to make settings .
  • Page 140 Vision Assistant O3M – several values of the vector (z values of the ROI groups): "2,5,8" – Range of values (amplitude values of the ROI groups): "3-7" – Combination (validity of the binary values of the ROI groups): "1 .4-10,13,16-32"...

  • Page 141: Connect Modules

    Vision Assistant O3M 15.2.5 Connect modules ► Set the mouse pointer to the output pin at the right edge of the module . ► Keeping the mouse button pressed, drag the mouse pointer out of the output pin .

  • Page 142: Description Of The "Input" Modules

    Vision Assistant O3M 15.3 Description of the "Input" modules In the "Input" selection area, available modules for entering signals are displayed . The available modules depend on the installed firmware . Depending on the firmware variant (DI, OD or LG) different input modules are available .

  • Page 143: Example For "Analogue Can Input Signals" Module

    Vision Assistant O3M 15.3.3 Example for "Analogue CAN input signals" module In logic, the "Analogue CAN input signals" module is used to process the motion speed of a machine . The calculated values are used to adjust the size of the warning range of the machine .

  • Page 144: Extrinsic Calibration" Module

    Vision Assistant O3M Table of values: Value Analogue input of the controller [mA] 12 .4 12 .4 8 .1 8 .1 0 .2 Digitalised and scaled for CAN [12-bit] 0 .8 0 .62 0 .62 0 .5 0 .405 0 .405...
  • Page 145 Vision Assistant O3M Setting Data type Index Description The current system availability is provided as enum with discreet values: System Description availability 0 System available: no limitations System not available: Interference from identical system detected System not available: Interference from fog, dust or snow detected...

  • Page 146: Description Of The "Input" Modules - Firmware Di

    Vision Assistant O3M 15.4 Description of the "Input" modules – Firmware DI The following input modules are only available in the DI firmware version: ● Basic function ● Input value of index 15.4.1 "Basic function" module The "Basic function" module provides results of ROI groups in the logic editor .

  • Page 147: Input Value Of Index" Module

    Vision Assistant O3M 15.4.2 "Input value of index" module The "Input value of index" module addresses measured values using the index . An index is assigned to each signal at input "in1" of the module . The number of values at the input is always identical to the number of values at the output .

  • Page 148: Example For The "Input Value Of Index" Module

    Vision Assistant O3M 15.4.3 Example for the "Input value of index" module In the logic shown, filtering is applied according to the maximum z-value (height) and the corresponding x-value (distance) is provided . Description of the modules used in the example:...

  • Page 149: Description Of The "Input" Modules - Firmware Od

    Vision Assistant O3M z-value ROI group (index) x-value (distance) (height) -0 .01 m 3 .56 m 0 .95 m 1 .11 m 0 .18 m 8 .14 m 0 .03 m 3 .97 m 1 .86 m 6 .79 m 1 .97 m...
  • Page 150 Vision Assistant O3M Setting Data type Index Description The internal ID of the object is provided . Index from object list The ID is not the index . The ID is a unique value . (vector with 20 values, Object ->...

  • Page 151: Zone-Based" Module

    Vision Assistant O3M 15.5.2 "Zone-based" module The "Zone-based" module has the following settings: Setting Data type Index Description Zone-based collision Index from zone number The ID of the next object in the zone is provided . warning -> object ID in...

  • Page 152: Input Value Of Index" Module

    Vision Assistant O3M 15.5.4 "Input value of index" module The "Input value of index" module addresses measured values using the index . An index is assigned to each signal at input "in1" of the module . The number of values at the input is always identical to the number of values at the output .
  • Page 153 Vision Assistant O3M Setting Data type Index Description The speed of the object along the y-axis of the world Index from object list coordinate system is provided . (vector with 20 values, Object ->speed y [1 . .20] Numerical...

  • Page 154: Description Of The "Input" Modules - Firmware Lg

    Vision Assistant O3M 15.6 Description of the "Input" modules – Firmware LG The following input modules are only available in the LG firmware variant: ● Line detection ● Input value of index 15.6.1 "Line detection" module The "Line detection" module addresses measured values using indices . The indices are assigned to the ROI groups via a vector with up to 8 values .

  • Page 155: Input Value Of Index" Module

    Vision Assistant O3M Setting Data type Index Description The offset between the detected line and the x-axis at the position of the reference point is provided . Vector with 8 values, Offset [1 . .8] Numerical The reference point can be configured address range from 1-8 (→...

  • Page 156: Description Of The "Memory Function" Modules

    Vision Assistant O3M Setting Data type Index Description The availability of "Height line structure [1 . .8]" is provided: Height line structure valid Vector with 8 values, Binary ● "0": height line structure [1 . .8] not available [1 . .8] address range from 1-8 ●...

  • Page 157: Teach" Module

    The nomenclature of the CAN signal for "Teach" is described in: ● a separate CAN document, ● libraries of ifm controllers . An external signal can be simulated with the logic teach commands (→ „15.13 Description of the switches "Enable CAN output"“).
  • Page 158 Vision Assistant O3M Module number Module Description If the measurement is valid and in the tolerance range of the reference value, a "1" is output (area free) . If the measurement is invalid or not in the tolerance range of the reference value, a "0"...

  • Page 159: Ram Write" Module

    Vision Assistant O3M 15.7.3 "RAM write" module The "RAM write" module allows volatile storage of information on the device . After a restart, the information is deleted from the device . Typical use cases for the "RAM write" and "RAM read" modules are exponential smoothing filters and event counters .

  • Page 160: Example: "Exponential Smoothing Filter" For "Ram Write" / "Ram Read" Modules

    Vision Assistant O3M 15.7.5 Example: "Exponential smoothing fi lter" for "RAM write" / "RAM read" modules In this example, the results from the device or from a logic calculation are averaged over time (smoothed) . The exponential smoothing filter generates a mean value via a weighted addition of the newest mean...

  • Page 161: Example "Event Counter" For "Ram Write" / "Ram Read" Modules

    Vision Assistant O3M 15.7.6 Example "Event counter" for "RAM write" / "RAM read" modules In this example, an event counter is implemented for the vertical drilling rig (→ „15.7.1 "Teach" module“). The "Area not free" events of ROI groups 1-8 of the vertical drilling rig are taken into account . The transition from "Area free"...

  • Page 162: Description Of The "Arithmetic" Modules

    Vision Assistant O3M 15.8 Description of the "Arithmetic" modules In the " Arithmetic" selection area, available modules for calculating with numbers are displayed . The modules can handle both single signals and vectors . The "Arithmetic" selection area contains the following modules:...
  • Page 163 Vision Assistant O3M Module Input Output Description 1 output 1 input (numerical, (numerical single value / The "TAN" module calculates the tangent from the input signal . The signal at the [rad], single vector input is interpreted as [rad] .

  • Page 164: Examples For Processing Input Signals

    Vision Assistant O3M 15.8.1 Examples for processing input signals All modules with several inputs and one output process vectors as follows: Addition of two vectors of equal size If vectors of the same size are present at the inputs, the respective values of the vectors are added . A vector is then sent to the output .
  • Page 165 Vision Assistant O3M Addition of two vectors of different size If vectors of different size are present at the inputs, the respective values of the vectors are added . Missing values of the smaller vector are replaced by the last value used . A vector is then sent to the output .
  • Page 166 Vision Assistant O3M Addition of a vector and a single value If there is a vector at one input and a single value at the other input, each value of the vector is added to the single value . A vector is then sent to the output . The size of the vector at the output corresponds to size of the vector at the input .

  • Page 167: Description Of The "Digitalisation" Modules

    Vision Assistant O3M 15.9 Description of the "Digitalisation" modules In the "Digitalisation" selection area, available modules for digitalisation are displayed . The modules convert numerical values at the inputs into comparable binary expressions . The "Digitalisation" modules can process individual signals or vectors at the inputs: ►...

  • Page 168: Description Of The "Logical Functions" Modules

    Vision Assistant O3M Module Input Output Description 3 inputs The signals at inputs "in1" and "in2" are compared at input "in3" taking into 1 output (binary, (numerical, account the tolerance: Approx . single values or single equal vectors depending ●...

  • Page 169: Description Of The "Vector-Specific Functions" Modules

    Vision Assistant O3M 15.11 Description of the "Vector-specific functions" modules In the "Vector-specific functions" selection area, functions are displayed which convert vectors into single values . The "Vector-specific functions" modules require vectors as input signals . The "Vector-specific functions" selection area contains the following modules:...

  • Page 170: Example For The "Vector Min" Module

    Vision Assistant O3M 15.11.1 Example for the "Vector Min" module The "Vector Min" module checks the validity of the x-values at input "in1" . Then the smallest x-value is determined from the x-values and output at analogue output 0 .

  • Page 171: Example For The "Digital Output" Module

    Vision Assistant O3M The "Digital output" module has the following setting: Setting Data type Description You can use single indices or multiple indexes simultaneously (vectors) . Duplicate addresses lead to an undefined state at the output . ►Assign each address only once .

  • Page 172: Analogue Output" Module

    Vision Assistant O3M 15.12.3 "Analogue output" module The "Analogue output" module transfers the numerical results from the logic editor to the connected peripherals . A maximum of 20 numerical outputs are available . The "in1" input processes numerical values or vectors .

  • Page 173: Example For The "Analogue Output" Module

    Vision Assistant O3M 15.12.4 Example for the "Analogue output" module In the example, a device is connected to a mobile controller via the CAN interface . The device scales the signals to 0 . .1 . The signals are then output via the mobile controller via a physical analogue switching output .

  • Page 174: Description Of The Switches "Enable Can Output

    Vision Assistant O3M A programmable controller is connected to the device as follows: Description of the devices and interfaces used: Number Function Description The programmable controller converts the 12-bit CAN value to a physical output . Programmable controller (e .g . CR0403) CAN interface The CAN interface transmits the analogue value (distance) in 12-bit resolution .

  • Page 175: Annex

    Vision Assistant O3M 16 Annex 16.1 Network settings The details of the network setting in this document describe the procedure for PCs with Windows Modifying network settings in a PC requires administrator rights . The following ports must be open (if necessary, adjust the firewall settings): ●...
  • Page 176 Vision Assistant O3M ► Click on [Properties] . > The window "Local Area Connection Properties" of the local network opens . ► Select [Internet Protocol Version 4 (TCP/IPv4)] . ► Click on [Properties] . > The window "Internet Protocol Version 4 (TCP/IPv4)" opens .
  • Page 177 Vision Assistant O3M ► Select the option [Use the following IP address:] . ► Set the following standard values: ● IP address: 192 .168 .0 .1 ● Subnet mask: 255 .255 .255 .0 ● Default gateway: 192 .168 .0 .201...

  • Page 178: Text Replacements And Conditional Codes

    Vision Assistant O3M 16.2 Text replacements and conditional codes The O3M2xx series with internal overlay can e .g . display text . The text can be static text that never changes . Alternatively, the text can indicate changing values, such as function results or the system status (dynamically) .

  • Page 179: Hints For The Usage

    Vision Assistant O3M Vehicle yaw rate: %12: indicates the rotation about the vertical axis as indicated by a J1939 message on the CAN bus, e .g . 30°: Vehicle yaw rate: 30 Collision predicted: no are in fact two text fields in one place . They are Collision predicted: no and Collision predicted: yes with different conditions .

  • Page 180: Text Replacement - Di Specific Codes

    Vision Assistant O3M Placeholder Replacement Data type Comment Examples Application general text replacement Logic Output %2e001% ==> displays (used in standard text number n boolean %2e<n> n=000 . .099 the value of the calculated primitives, cannot be used displayed as (on, off) digital output #1, e .g .

  • Page 181: Text Replacement - Od Specific Codes

    Vision Assistant O3M Placeholder Replacement Data type Comments Examples Application the z value of general text replacement %0c0 ==> output will be %0c<n> float (3 .0) the calculated (used in standard text the function result for axis %0d<n> pixel in the ROI float (3 .1)
  • Page 182 Vision Assistant O3M Placeholder Replacement Data type Comments Examples Application associated text replacement (used only %tbd ==> e .g . results Width (projected) for text bound to Object float (3,1) Only valid for text that in "1 .2", if the result for...
  • Page 183 Vision Assistant O3M Placeholder Replacement Data type Comments Examples Application Minimum z-position %tbd ==> e .g . results in general text replacement (height) of the only valid for the float (3 .1) "0 .0", if the result for the...
  • Page 184 Vision Assistant O3M Placeholder Replacement Data type Comments Examples Application %tbd ==> e .g . results in Maximum general text replacement only valid for the "8 .2", if the result for the float (3 .1) x-value of the (used in standard text...
  • Page 185 Vision Assistant O3M Placeholder Replacement Data type Comments Examples Application Velocity in %tbd ==> e .g . results in general text replacement x-direction in only valid for the "7", if the result for the (used in standard text [km/h] of the float (3 .0)
  • Page 186 Vision Assistant O3M Placeholder Replacement Data type Comments Examples Application %tbd ==> e .g . results in y value of the general text replacement "-1 .2", if the result for the float (3 .1) nearest reflector only valid for reflector...

  • Page 187: Connect O3M To External Devices

    Vision Assistant O3M 16.3 Connect O3M to external devices The ifm Vision Assistant is the PC configuration software for the O3M devices . In live operation, the O3M is connected to external devices . It is connected via the following interfaces: ●...

  • Page 188: Glossary

    Vision Assistant O3M 16.4 Glossary Active application The application set to "active" in the device: This application is running when the device is ready for operation . Amplitude Refers to the reflectivity of the objects in the infrared range: The device provides a greyscale representation of the measuring result - the higher the reflection, the lighter the shade of grey .

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