IFM Electronic O3M151 Programming Manual
  1. Manuals
  2. Brands
  3. IFM Electronic Manuals
  4. Accessories
  5. O3M151
  6. Programming manual
IFM Electronic O3M151 Programming Manual

IFM Electronic O3M151 Programming Manual

Object detection function of mobile 3d smart sensor
Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
Programming Manual
UK
Mobile 3D Smart Sensor
O3M151
Object Detection

Advertisement

Table of Contents
loading

Related Manuals for IFM Electronic O3M151

Summary of Contents for IFM Electronic O3M151

  • Page 1 Programming Manual Mobile 3D Smart Sensor O3M151 Object Detection...

  • Page 2: Table Of Contents

    O3M151 3D Smart Sensor Object Detection Contents 1 About these instructions � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �3 1�1 Symbols used �...

  • Page 3: About These Instructions

    1 About these instructions These instructions explain the 3D O3M151 Smart Sensor's function Object Detection� For a detailed description of the device, please read the Operating instructions of the O3M151 sensor and the ifm Vision Assistant Programming Manual (→ "1�3 Other applicable documents") 1.1 Symbols used...

  • Page 4: Smart Sensor

    2 Smart Sensor 2.1 Functions The O3M151 Smart Sensor is an optical system which measures the distance between the sensor and the next surface� An additional illumination unit illuminates the scene and the sensor process the light reflected by the surface�...

  • Page 5: 2�2 Measuring Principle

    O3M151 3D Smart Sensor Object Detection 2.2 Measuring principle The device measures according to the light runtime method based on a phase measurement with modu- lated light� Based on this principle, the following points must be taken into account during the measurements: ●...

  • Page 6: 2�3 Operating Check

    2.3 Operating check With an optical system, detection faults can occur in case of poor visibility (e�g� in heavy fog, heavy dust, very heavy snowfall)� The O3M151 Smart Sensor is equipped with sensory fault detection and generates a message when faults occur�...

  • Page 7: Object Detection

    Collision warning/Collision prediction The O3M151 Smart Sensor simultaneously monitors the distance of the vehicle from all objects within the monitoring area� As soon as an object is within the static monitoring area in front of the vehicle, the O3M151 Smart Sensor triggers a signal which warns the vehicle driver of an impending collision�...

  • Page 8: 3�2 Possible Applications

    O3M151 3D Smart Sensor Object Detection 3.2 Possible applications ● Area monitoring with static attachment and with attachment to a vehicle (from several user-definable areas simultaneously) ● Marking, identification and specific tracking of reflected objects ● Vehicle automation (AGV: automated guided vehicle)

  • Page 9: Commissioning

    O3M151 3D Smart Sensor Object Detection 4 Commissioning The O3M151 Smart Sensor can be operated with various functions� For information on flashing the firmware, refer to the ifm Vision Assistant Programming Manual� ► Make sure that the correct firmware is loaded on the sensor�...

  • Page 10: Application Examples

    O3M151 3D Smart Sensor Object Detection 5 Application examples 5.1 Area monitoring 5.1.1 Introduction With static attachment and with attachment on a vehicle, the Object Detection function enables area monitoring of several user-defined areas simultaneously� Functions: ● Monitoring of an area in front of a door or access point ●...
  • Page 11 O3M151 3D Smart Sensor Object Detection Attachment position of sensor for access monitoring, side view A: Attachment from above B: Frontal attachment ● Pos� A: Attachment a height of over 2 m > Advantage: The sensor is in an overview position and the visible area is limited by the angle�...

  • Page 12: 5�1�3 Parametrisation

    O3M151 3D Smart Sensor Object Detection Attachment on vehicle Automatic object tracking is also suitable for somewhat difficult and/or rough terrain� It recognises the next 20 objects (adjustable) next to the vehicle and passes on information such as the distance, size and posi- tion of each object to the machine controller�...

  • Page 13: 5�1�4 Relevant Output

    O3M151 3D Smart Sensor Object Detection 5.1.4 Relevant output The CAN messages with the result values of the detected objects (e�g� position or relevant speed) can be received and interpreted on the controller used� The objects are filtered via the object position for area monitoring� Objects which are located within a criti- cal area result in a reaction, e�g�...

  • Page 14: 5�2 Reflector Tracking Of Marked Driverless Vehicles

    O3M151 3D Smart Sensor Object Detection 5.2 Reflector tracking of marked driverless vehicles 5.2.1 Introduction The Object Detection function enables marking and identification of objects with reflectors and their specific tracking� Driverless transport systems (DTS) in harbour logistics can automatically detect and track other DTSs us- ing the sensor�...

  • Page 15: 5�2�4 Relevant Output

    O3M151 3D Smart Sensor Object Detection 5.2.4 Relevant output The CAN messages with the result values of the detected objects (e�g� position or relevant speed) can be received and interpreted on the controller� The objects are filtered via the area position for area monitoring� Objects which are located within a criti- cal area result in a reaction, e�g�...

  • Page 16: 5�3 Collision Avoidance For Mobile Working Machines

    O3M151 3D Smart Sensor Object Detection 5.3 Collision avoidance for mobile working machines 5.3.1 Introduction Mobile working machines often must operate in an environment where they are surrounded by different sorts of objects, which therefore pose a risk of collision� Injuries to personnel and damage to property can be avoided by use of the Object Detection function within the “Collision avoidance"...

  • Page 17: 5�3�3 Intelligent Collision Prediction

    O3M151 3D Smart Sensor Object Detection 5.3.3 Intelligent collision prediction If the Smart Sensor is supplied cyclically with the vehicle movement data (speed and direction of move- ment, i�e� yaw rate/steering angle) and the vehicle dimensions are parameterised, it can calculate the projected relative positions of the vehicle and the objects�...
  • Page 18 O3M151 3D Smart Sensor Object Detection ● In contrast to the case described above, objects which are more distant from the vehicle but which are on a collision course because of their high relative speed (i�e� the vector difference between the vehicle speed and the object speed is large), do trigger an early warning signal�...
  • Page 19 O3M151 3D Smart Sensor Object Detection ● Where there is a risk of collision the Smart Sensor gives additional information regarding the indication of a critical situation� This information consists of the estimated time until the collision and the estimat- ed speed of impact (severity of the collision)�...

  • Page 20: 5�3�4 Attachment Options

    O3M151 3D Smart Sensor Object Detection 5.3.4 Attachment options ● Long-range monitoring (for operation at high speeds): – Angle of view (inclination) almost straight ahead (inclined downwards between 0° and 10°) – Installation height between 0�8 m and 1�6 m ●...
  • Page 21 O3M151 3D Smart Sensor Object Detection ► For extension of the monitoring area, use multiple Smart Sensors�...

  • Page 22: 5�3�5 Parameterisation

    O3M151 3D Smart Sensor Object Detection 5.3.5 Parameterisation The setting of the general parameters is described in "5�1�3 Parametrisation"� A collision avoidance set-up wizard ifm vision wizard is available (→ the instruction manual for the ifm vision wizard)� The following parameters are relevant to the "collision avoidance" application�...

  • Page 23: 5�3�6 Operational Extension By The Ifm Controller

    O3M151 3D Smart Sensor Object Detection Parameter Description Time-based hysteresis for 2 successive triggerings: Depending on the strength of the braking deceleration, several successive indi- Inactive time after triggering vidual triggerings may occur during the course of an overall braking procedure�...
  • Page 24 O3M151 3D Smart Sensor Object Detection...

  • Page 25: Parameters

    O3M151 3D Smart Sensor Object Detection 6 Parameters The parameters can be changed and adjusted in function of the use of the sensor� For details on the settings and parameters of the device (→ ifm Vision Assistant Programming Manual)� CycleTime uint8 Cycle time of Application → Image Set-...
  • Page 26 O3M151 3D Smart Sensor Object Detection EthernetLoad uint8 EthernetOutput only – Configuration every nth system- cycle DistanceImageOnSwitch uint8 0 is DistanceImage Ethernet Settings →  off, 1 is DistanceI- Distance Image On Switch mage on VehicleDim_xMin float32 Vehicle dimension See the template "Collision description (in world Avoidance"...
  • Page 27 O3M151 3D Smart Sensor Object Detection PMDExtrCalib_ uint8 – Flag indicating – IlluCalibIsRelative whether illu calibration is given relative to camera or absolute in world coordinates� ObjectListCust_ uint8 – Spray Removal Application → Image Set- sprayRemovalSensitivity customization tings → Spray removal ObjectListCust_ uint8 – Pixel plausibilization Application → Image Set-...
  • Page 28 O3M151 3D Smart Sensor Object Detection ObjectListCust_ uint8 – Customization of See Template "Collision CrashPredictorSensitivity crash predictor Avoidance" in ifm-Vision- 0: low sensitivity Assistant (optimized for low false positive rates) 1: medium sensi- tivity 2: high sensitivity (optimized for high...
  • Page 29 O3M151 3D Smart Sensor Object Detection AutoCalibParam_ uint8 – Number of patterns – numberOfPatterns to be used for autocalibration (0,1 : autocalibration disabled) AutoCalibParam_xPattern float32 x coordinates [m] of – the autocalibration patterns AutoCalibParam_yPattern float32 y coordinates [m] of –...

  • Page 30: Interface

    O3M151 3D Smart Sensor Object Detection 7 Interface The output of the preprocessed function data occurs via CAN-Bus, either with the protocol CANopen or the protocol SAE J 1939� 7.1 CANopen 1000 DeviceType – – – – Fixed to "0" (Zero) until...
  • Page 31 O3M151 3D Smart Sensor Object Detection 1003 Predefined – – – – – – SubIndex 00: Number of Error Field Errors is defined accor- ding the size of the error memory in the diagnosis� Number of Errors – Standard Error –...
  • Page 32 O3M151 3D Smart Sensor Object Detection 1009 Manufacturer – – const – – – (No SubIndex) should Hardware be filled at runtime with Version the HW Version of the camera 100A Manufacturer – – const – – – (No SubIndex) should be...
  • Page 33 O3M151 3D Smart Sensor Object Detection 1800 Transmit PDO – – – – – – Objects 0x1400-0x1402, Communication 0x1600-0x1602, 0x1800- Number of entries 0x03 0x03 Parameter - 0x1837: SubIndex 02 SyncMsg Transmission Type: 254 COB ID $NODEID+0x40000180 0x00000080 0xFFFFFFFF (Manufacturer defined):...
  • Page 34 O3M151 3D Smart Sensor Object Detection 180A Transmit PDO – – – – – – – Communication Number of entries 0x03 0x03 Parameter - Constant_2D_ COB ID $NODEID+0xC0000000 0x00000080 0xFFFFFFFF Calib_Data Transmission type 0x00000080 0xFFFFFFFF Inhibit time 0x0000 0x00000080 0xFFFFFFFF...
  • Page 35 O3M151 3D Smart Sensor Object Detection 1817 Transmit PDO – – – – – – – Communication Number of entries 0x03 0x03 Parameter Ob- ject 3 - Part B COB ID $NODEID+0xC0000000 0x00000080 0xFFFFFFFF Transmission 0x00000080 0xFFFFFFFF Type Inhibit Time...
  • Page 36 O3M151 3D Smart Sensor Object Detection 181F Transmit PDO – – – – – – – Communication Number of entries 0x03 0x03 Parameter Ob- ject 7 - Part B COB ID $NODEID+0xC0000000 0x00000080 0xFFFFFFFF Transmission 0x00000080 0xFFFFFFFF Type Inhibit Time...
  • Page 37 O3M151 3D Smart Sensor Object Detection 1827 Transmit PDO – – – – – – – Communication Number of entries 0x03 0x03 Parameter Ob- ject 11 - Part B COB ID $NODEID+0xC0000000 0x00000080 0xFFFFFFFF Transmission 0x00000080 0xFFFFFFFF Type Inhibit Time...
  • Page 38 O3M151 3D Smart Sensor Object Detection 182F Transmit PDO – – – – – – – Communication Number of entries 0x03 0x03 Parameter Ob- ject 15 - Part B COB ID $NODEID+0xC0000000 0x00000080 0xFFFFFFFF Transmission 0x00000080 0xFFFFFFFF Type Inhibit Time...
  • Page 39 O3M151 3D Smart Sensor Object Detection 1837 Transmit PDO – – – – – – – Communication Number of entries 0x03 0x03 Parameter Ob- ject 19 - Part B COB ID $NODEID+0xC0000000 0x00000080 0xFFFFFFFF Transmission 0x00000080 0xFFFFFFFF Type Inhibit Time...
  • Page 40 O3M151 3D Smart Sensor Object Detection 1A14 Transmit PDO – – – – – – – Mapping Para- Number of entries meter Object 2 - Part A PDO Mapping 0x21120140 Entry 1A15 Transmit PDO – – – – – –...
  • Page 41 O3M151 3D Smart Sensor Object Detection 1A20 Transmit PDO – – – – – – – Mapping Para- Number of entries meter Object 8 - Part A PDO Mapping 0x21180140 Entry 1A21 Transmit PDO – – – – – –...
  • Page 42 O3M151 3D Smart Sensor Object Detection 1A2C Transmit PDO – – – – – – – Mapping Para- Number of entries meter Object 14 - Part A PDO Mapping 0x211e0140 Entry 1A2D Transmit PDO – – – – – –...
  • Page 43 O3M151 3D Smart Sensor Object Detection 2100 SyncMsg – – – – – – – Number of entries – SyncMsg SyncMaster: send out measured time value of last sent transmission of this signal on CAN SyncMsg_Rx Slave: receive SyncMsg message of the Sync-...
  • Page 44 O3M151 3D Smart Sensor Object Detection 2115 Object 5 – – – – – – See Object 2100 Number of entries Part A Part B 2116 Object 6 – – – – – – See Object 2100 Number of entries...
  • Page 45 O3M151 3D Smart Sensor Object Detection 2120 Object 16 – – – – – – See Object 2100 Number of entries Part A Part B 2121 Object 17 – – – – – – See Object 2100 Number of entries...

  • Page 46: 7�2 Sae J1939

    O3M151 3D Smart Sensor Object Detection 7.2 SAE J1939 7.2.1 Outputs Constant_ Constant_2D_ MobCa – – Multiplexor 2D_Calib_ Calib_Data Data_Mux IntrCalib_ Constant_2D_ MobCa – – Constant_2D_ 2D_alpha Calib_Data Calib_Data_ Mux = 0x4 IntrCalib_ Constant_2D_ MobCa – – Constant_2D_ 2D_center_ Calib_Data...
  • Page 47 O3M151 3D Smart Sensor Object Detection Crash_ Crash_Predic- MobCa – – – Predictor_ tor_Info Info_cnt Variant DBC_File_Ver- MobCa – VtSig_ – sion Variant Major DBC_File_Ver- MobCa – – – sion Minor DBC_File_Ver- MobCa – – – sion Protect MobCa –...
  • Page 48 O3M151 3D Smart Sensor Object Detection Failure MobCa – – The FMI defines Mode the type of fai- Identifier1 lure detected in the subsystem identified by an SPN� SPN1High MobCa – – SPN #1 (Conversion Version 4) Occurence MobCa –...
  • Page 49 O3M151 3D Smart Sensor Object Detection MobCa – – Conversion Method3 SPN4 MobCa 65536 – – SPN #4 (Conversion Version 4) Failure MobCa – – The FMI defines Mode the type of fai- Identifier4 lure detected in the subsystem identified by an SPN�...
  • Page 50 O3M151 3D Smart Sensor Object Detection ExtrCalib_ Dynamic_2D_ MobCa 0�00174533 -345�575 -345�575 345�575 VtSig_ – 2D_rot_z Calib_Data ExtrCalib_ 2D_rot_z ExtrCalib_ Dynamic_2D_ MobCa 0�01 -1�2 -1�2 01� Feb VtSig_ – 2D_delta_tz Calib_Data ExtrCalib_ 2D_del- ta_tz Dynamic_ Dynamic_2D_ MobCa – – –...
  • Page 51 O3M151 3D Smart Sensor Object Detection Actual EBS21 Envi- -125 -125 – Actual torque Retarder ron- of the retarder PercTorque ment as negative percentage of maximum� WheelSpeed EBS21 Envi- 0�00390625 -125 -125 km/h – Difference DiffMainAxle ron- between the ment...
  • Page 52 O3M151 3D Smart Sensor Object Detection FirstFrame ISO15765_Funct Envi- 4095 Byte – ProtocolCtrlIn- DataLength ron- formation = 0x1 ment (First frame) Separation ISO15765_Funct Envi- – ProtocolCtrlIn- Time ron- formation = 0x3 ment (Flow control ) FlowStatus ISO15765_Phys Envi- – VtSig_...
  • Page 53 O3M151 3D Smart Sensor Object Detection Obj_0_Id MoCa_Obj_0_A MobCa id of object Obj_0_zMin MoCa_Obj_0_A MobCa 0�02 VtSig_ minimum z Obj_0_ coordinate of zMin object Obj_0_vz MoCa_Obj_0_A MobCa 0�5 VtSig_ relative velocity Obj_0_vz of object, z direction Obj_0_A_ MoCa_Obj_0_A MobCa –...
  • Page 54 O3M151 3D Smart Sensor Object Detection Obj_19_ep MoCa_Obj_19_A MobCa enum VtSig_ existence pro- Obj_19_ep bability Obj_19_ax MoCa_Obj_19_A MobCa VtSig_ relative accele- Obj_19_ax ration of object, x direction Obj_19_qvx MoCa_Obj_19_A MobCa enum VtSig_ quality of vx Obj_19_ signal Obj_19_az MoCa_Obj_19_A MobCa...
  • Page 55 O3M151 3D Smart Sensor Object Detection Parameter RQST2 Envi- 1�68E+12 – – PGN which Group ron- is requested Number ment by Request2 message UseTransfer RQST2 Envi- – – Requester is to Mode ron- respond via the ment Transfer PGN Standby_...
  • Page 56 O3M151 3D Smart Sensor Object Detection Tachograph TCO1 Envi- 0�125 8031�88 – Calculated Output ron- speed of the ShaftSpeed ment transmission output shaft� Tachograph TCO1 Envi- 0�00390625 250�996 km/h – Speed of the VehicleSpeed ron- vehicle regi- ment stered by the tachograph�...

  • Page 57: 7�2�2 Inputs

    O3M151 3D Smart Sensor Object Detection Lateral VDC2 Envi- 0�000488281 -15�687 -15�687 15�687 m/s² – Indicates a late- Acceleration ron- ral acceleration ment of the vehicle� Longitudinal VDC2 Envi- 0�1 -12�5 -12�5 12� Mai m/s² – Indicates the Acceleration ron-...

  • Page 58: 7�2�3 Value Tables

    O3M151 3D Smart Sensor Object Detection 7.2.3 Value tables Value table Code Value GP2D_Ack_Signal Neg�Ack,data invalid Neg�Ack,too much data, resend Neg�Ack,wrong seq,please resend Neg�Ack�time out, please resend Pos� Ack, data received Standby_Control Standby mode on Standby mode off ExtrCalib_2D_delta_tz Error...
  • Page 59 O3M151 3D Smart Sensor Object Detection Value table Code Value Obj_0_Measured measured in current frame not measured in current frame Obj_0_ax Error Out of upper bound Out of lower bound Obj_0_az Error Out of upper bound Out of lower bound...
  • Page 60 O3M151 3D Smart Sensor Object Detection Value table Code Value Obj_0_y1 8191 Error 8190 Out of upper bound 8189 Out of lower bound Obj_0_dx 4095 Error 4094 Out of upper bound 4093 Out of lower bound Obj_0_x1 8191 Error 8190...

  • Page 61: Appendix: Performance Tables

    O3M151 3D Smart Sensor Object Detection 8 Appendix: Performance tables 8.1 Field of view size Measuring distance [m] Length [m] Width [m] Center pixel [cm] 1�40 0�40 2�19 x 2�52 7�00 2�02 10�94 x 12�62 14�00 4�04 21�88 x 25�24 28�00...
  • Page 62 O3M151 3D Smart Sensor Object Detection...

Table of Contents