SICK NAV-LOC Operating Instructions Manual
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SICK NAV-LOC Operating Instructions Manual

SICK NAV-LOC Operating Instructions Manual

Laser positioning system
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O P E R A T I N G I N S T R U C T I O N S
NAV-LOC
Laser positioning system

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Summary of Contents for SICK NAV-LOC

  • Page 1 O P E R A T I N G I N S T R U C T I O N S NAV-LOC Laser positioning system...
  • Page 2 Legal notes This work is protected by copyright. The associated rights are reserved by SICK AG. Reproduction of this document or parts of this document is only permissible within the limits of the legal provisions of copyright law. Any modifica- tion, abridgment, or translation of this document is prohibited without the express written permission of SICK AG.

  • Page 3: Table Of Contents

    IP technology ............................9 Requirements for operating personnel ..................9 Product description ........................ 10 Scope of delivery ..........................10 Design and function of NAV-LOC ....................11 Sensor Integration Machine (SIM) ....................12 Measurement accuracy ......................... 12 Telegram listing ..........................12 Data interfaces..........................
  • Page 4 Localization does not start ........................ 55 9.3.2 No localization data is output ......................55 9.3.3 Characters ............................55 Transport and storage ......................56 10.1 Transport ............................56 10.2 Transport inspection ........................56 8021386/12G4 /2019-04-24 | SICK OPERATING INSTRUCTIONS | NAV-LOC Subject to change without notice...
  • Page 5 About this document 10.3 Storage ............................. 56 Service and maintenance ...................... 57 NAV-LOC data sheet ....................... 58 12.1 NAV-LOC features ........................... 58 12.2 System latencies..........................59 8021386/12G4 /2019-04-24 | SICK OPERATING INSTRUCTIONS | NAV-LOC Subject to change without notice...

  • Page 6: About This Document

    “Sensor Integration Machine” (SIM) for localization based on contour data. The SIM2000- 0A20A00 and a 2D LiDAR sensor are used together and referred to as NAV-LOC in the following de- scription. The system components are referred to as 2D LiDAR sensor and SIM (Sensor Integration Machine) for short, unless a clear distinction needs to be made.

  • Page 7: Further Information

    NAV-LOC requires a valid map of its surroundings in order to operate. The map will be created by SICK customer service. Contour data from the intended area of operation are needed for this purpose. Please contact the responsible agency for the exact process of recording measurement data and creating a map.

  • Page 8: Safety Information

    Hazard warnings and operational safety NAV-LOC uses a 2D LiDAR sensor that contains a laser light source as data source. LEDs are used for indication in the SIM. Please note the respective warning information in the respective operating in- structions.

  • Page 9: Ip Technology

    SICK uses standard IP technology in its products for network communication. The focus is on availabil- ity of products and services. SICK always assumes that the integrity and confidentiality of the data and rights affected by the use of the aforementioned products will be ensured by the customer. In all cases, appropriate security measures, such as network separation, firewalls, virus protection, and patch man- agement, must be taken by the customer on the basis of the situation in question.

  • Page 10: Product Description

    It describes the design and operating principle, in particular the various operating modes. Read this chapter before you install and commission NAV-LOC. Scope of delivery NAV-LOC is available in a range of variants depending on the requirements: The delivery of NAV-LOC includes the following components: No. of...

  • Page 11: Design And Function Of Nav-Loc

    NAV-LOC. An absolute coordinate system with an origin must be defined for the use of NAV-LOC for position out- put. For example, the origin point of the coordinate system can be at the corner of a factory hall.

  • Page 12: Sensor Integration Machine (Sim)

    Measurement accuracy The achievable measurement accuracy of NAV-LOC depends on the respective conditions during the ride and their influence on the recording of measurement data. The measurement accuracy in drive mode is influenced by: ...

  • Page 13: Diagnostic Via Led Status Indicators

    In the CoLa communication, there are also three function blocks (NDEV, NAV and NRES) which have to be initialized for the reception of data via the result port. NDEV: Handles the communication between NAV-LOC and the connected 2D LiDAR sensor NAV: Is responsible for the map handling and the localization.

  • Page 14: Diagnostic Via Sopas Air

    A further analysis could be done via the SOPAS Air interface. The logical states are shown in the visu- alization. For a working condition, the simulated LEDs shall show a green light. 8021386/12G4 /2019-04-24 | SICK OPERATING INSTRUCTIONS | NAV-LOC Subject to change without notice...

  • Page 15: Diagnostic Via Telegram

    A reference map which shows the contour of the factory site is required for operation of the localization system. Contact your SICK Service to create a reference map for your plant. You will find a contact address for your country on the last page of this document.
  • Page 16 The reference map must be loaded on the SIM to operate NAV-LOC. This step is described in chapter 7.5.

  • Page 17: Dynamic Environment Handling

    The system uses the reference map and the deviations described in the working map to obtain enough valid ambient properties to ensure stable localization. At the same time, NAV-LOC outputs additional information, which is described in chapter 3.11. The parameter described there, Local Map Modification, defines the extent of the adjustment performed in the current surroundings.

  • Page 18: 3.10.3 Environment Specific Considerations

    The map required for localization is provided in *.smap format by SICK Service. It is loaded onto the SIM, as described in chapter 7.5. In addition, SICK Service provides documentation of the reference map, which features a grid, in *.pdf format. This grid can be used to estimate the initial position.
  • Page 19 The initial position must be sufficiently accurate in surroundings with repetitive structures. An initial position must not deviate from the actual position by more than half of the repeat grid (here: aisle distance). 8021386/12G4 /2019-04-24 | SICK OPERATING INSTRUCTIONS | NAV-LOC Subject to change without notice...
  • Page 20 The walls can be measured depending on the position only to one side since the other walls are outside the range of the 2D LiDAR sensor. The uncertainty range must also not exceed the grid dimensions of the columns here: uncertainty range = column distance. 8021386/12G4 /2019-04-24 | SICK OPERATING INSTRUCTIONS | NAV-LOC Subject to change without notice...

  • Page 21: Output Of Position And Additional Information

    Product description 3.11 Output of position and additional information Outputs of the NAV-LOC system are:  Current position (X,Y) in the coordinate system of the reference  Current yaw angle in the coordinate system of the reference map  Pose quality of the detected position ...

  • Page 22: 3.11.2 Advanced Options

    A high value means many of the objects currently used for localization on the map were not entered in the initial reference map; rather, they were entered during operation by the algorithm of the Dynamic Environment Handling. 8021386/12G4 /2019-04-24 | SICK OPERATING INSTRUCTIONS | NAV-LOC Subject to change without notice...
  • Page 23 Adaptive map adjustment is only performed if the following parameters remain within a defined range: Local Map Modification < 50% Yaw Rate < 8°/s Pose Quality < 30 Figure 7: AGV block diagram 8021386/12G4 /2019-04-24 | SICK OPERATING INSTRUCTIONS | NAV-LOC Subject to change without notice...

  • Page 24: System Requirements Of Nav-Loc

     Installation of the components in the temperature range and with IP protection acc. to data sheet  Note: SICK Service can make a professional assessment of the factory site and then create the map.
  • Page 25 System requirements of NAV-LOC Alternatively the SICK Alignment Tool, order no. 2101720, may be used. This device is operated by an internal rechargeable lithium-ion battery and indicates the received laser beam depending on the beam size by one or more red LEDs.

  • Page 26: Operating Modes Of Nav-Loc

    Operating modes of NAV-LOC Operating modes of NAV-LOC The embedded application has 3 main operating modes. After connecting the supply voltage and start- ing, the embedded application is in IDLE mode. There are two ways to switch states IDLE  READY  PREPARE  LOCALIZE, either by setting the relevant parameter or, if parameters are permanently saved, with a separate command.

  • Page 27: Prepare Mode

    Operating modes of NAV-LOC PREPARE mode It can take several seconds to initialize a pose with a large reference map. During loading, the system uses PREPARE to indicate that the mode is being changed. LOCALIZE mode The embedded application has been assigned a valid data source and is acquiring scan data.

  • Page 28: Initial Commissioning And Demonstration Mode

    2. Open the SOPAS AIR web GUI with a web browser (Chrome is preferred) e. g. with default setting: http://192.168.0.1 for X9-1 from the connected SIM Port 8021386/12G4 /2019-04-24 | SICK OPERATING INSTRUCTIONS | NAV-LOC Subject to change without notice...

  • Page 29: Creating A Demo Map

    NAV-LOC. The surroundings are limited to a size of 50 x 50 m. NOTE The created demo map is used for initial commissioning of NAV-LOC and is not suitable for driving operation. NOTE This map can only be created statically, i.e., the sensor must not be moved and must be mounted so...
  • Page 30 4. After switching to the “Run Monitor” page, the currently measured contour is shown in black and the active map in yellow. The position with a trace of recent locations is shown in orange color. 8021386/12G4 /2019-04-24 | SICK OPERATING INSTRUCTIONS | NAV-LOC Subject to change without notice...

  • Page 31: Full Integration And Commissioning

     The scan data of the facility has been recorded and a reference map has been created. IMPORTANT NAV-LOC must only be commissioned by adequately qualified personnel. Before operating the plant fitted with NAV-LOC for the first time, make sure that it is first checked and released by qualified per- sonnel. NOTE...

  • Page 32: Required Software

    Full Integration and commissioning Required software For the integration of NAV-LOC is some additional desktop software required:  FTP client for transmission of the maps from the PC to NAV-LOC  Web browser to operate the SIM  SOPAS ET to configure of the Ethernet interfaces of the SIM and the NAV sensors.

  • Page 33: Network Setup

    Full Integration and commissioning The connectors (1), (5), (6), (7), (8), and (10) are not used for NAV-LOC and must remain unconnected. The supply voltage is connected with male connector X2 to pin 3 (24 V In1) and 2 (GND).
  • Page 34 The interfaces can be adjusted in the Network/Interfaces -> Ethernet menu item. When setting up the Ethernet interfaces, make sure that subnet masks of the 4 Ethernet interfaces do not overlap. 8021386/12G4 /2019-04-24 | SICK OPERATING INSTRUCTIONS | NAV-LOC Subject to change without notice...

  • Page 35: Connection Setup

    The Ethernet interface of the PC has to be set to an IP address in the range 192.168.0.2 to 192.168.0.255 in this exemplary case. Figure 12: Example connection set-up for live view and configuration of NAV-LOC via a PC Supplementary device-specific documents for 2D LiDAR sensors, which can be combined with the SIM2000-0A20A00 as a data source.

  • Page 36: Switch Usage

    Figure 13: Example connection for switch usage with same address room (IP addresses are exem- plary) Figure 14: Alternative, example connection for switch usage with direct connection to PC for configu- ration and visualization (IP addresses are exemplary) 8021386/12G4 /2019-04-24 | SICK OPERATING INSTRUCTIONS | NAV-LOC Subject to change without notice...

  • Page 37: Result Port Output

    7.4.4 Result port output NAV-LOC sends telegrams over the interfaces described in Figure 10 to communicate with a connected vehicle computer. The position is output in the binary result port protocol. There is a separate document for this, which is available for download at www.sick.com.

  • Page 38: Configuration Of The The Embedded Application

    The Chrome web browser is recommend for this purpose. The web interface is invoked by entering the current IP address of the SIM, e.g., http://192.168.0.1 (factory default setting). Open the page www.sick.com and enter the part number of the NAV-LOC telegram listing 8021387 (English) into the search field. 8021386/12G4 /2019-04-24 | SICK...

  • Page 39: Idle: Data Source Settings

    Figure 15: Source configuration (settings for the data source) interface after successful connection to the sensor If the data is valid, a sensor is connected and ready for use, NAV-LOC will be initialized and started. The state of NAV-LOC changes from IDLE to READY mode.

  • Page 40: Idle: Mounting Position (Optional)

    The typical start times are approx. 10 s for the NAV310 and approx. 40 s for the NAV245. NOTE If a connection between the NAV-LOC and the sensor is not achieved, the IP addresses of the sensor and the used port of NAV-LOC should be checked with a direct connection to the SOPAS ET program and corrected if necessary.

  • Page 41: Idle: Scan Filter (Optional)

    One has to consider that the more the field of view of the sensor is restricted, the more difficult it is for NAV-LOC to localize itself. The function therefore depends on the environment NAV-LOC is deployed in. As indication to reach the full accuracy mentioned in the data sheet in chapter 12 one should not set a scan range below of 220°.
  • Page 42 Full Integration and commissioning The configuration values refer to the sensor position and orientation. There is one unique coordinate definition within the NAV-LOC system to handle all LiDAR sensors. All data is transformed internally to match the specific sensor system.

  • Page 43: Ready: Settings For Localization

    7.6.5 READY: Settings for localization A map suitable for the current surroundings must be selected and set for NAV-LOC for localization. In addition, NAV-LOC needs a start range consisting of the initial position and uncertainty range (for more information, see chapter 3.10).
  • Page 44 LED INDICATOR in READY mode on the SIM The Funct 1 LED also lights up green when the device has successfully switched to LOCALIZE mode. READY mode LOCALIZE mode 8021386/12G4 /2019-04-24 | SICK OPERATING INSTRUCTIONS | NAV-LOC Subject to change without notice...

  • Page 45: Localize: Indication Of Contour And Position

    The position with a trace of recent locations is shown in orange color. For the “Position” options refer to chapter 3.11. Open the page www.sick.com and enter the part number of the NAV-LOC telegram listing 8021387 (English) into the search field. 8021386/12G4 /2019-04-24 | SICK...

  • Page 46: Localize: Settings For The Result Port (Data Output)

    Different options can be set in “Basic Settings” of the SOPAS AIR interface. There will be no data output via the result port without activating data output. 8021386/12G4 /2019-04-24 | SICK OPERATING INSTRUCTIONS | NAV-LOC Subject to change without notice...
  • Page 47 All LiDAR scan data is transformed to one unique sensor coordinate system. Figure 20: Unique coordinate system for all LiDAR sensors (angle in mathematical positive direction – counterclockwise) 8021386/12G4 /2019-04-24 | SICK OPERATING INSTRUCTIONS | NAV-LOC Subject to change without notice...
  • Page 48 The default value is 1. NOTE If necessary, the output frequency can be lowered with the pre-selectable output interval. 8021386/12G4 /2019-04-24 | SICK OPERATING INSTRUCTIONS | NAV-LOC Subject to change without notice...

  • Page 49: Synchronization

    This chapter elaborates about the synchronization of NAV-LOC and between the AGV vehicle controller. The synchronization between the connected 2D LiDAR sensor and the NAV-LOC controller (SIM) is done internally by the embedded application of and is described in chapter 2.5 of each of the device-specific documents: ...

  • Page 50: Synchronization Via Telegram Request (Polling) And Hw Port

    Using the hardware port gives the option to calculate the delay for processing the request command and the following response time. An example could be to request the time stamp from NAV-LOC every 10 seconds. NOTE The vehicle computer is to be configured such that it responds to the risings edge of the output pulse.

  • Page 51: Synchronization Via A Cyclical Pulse Provided On Hw Port

    Configuration of, e.g., 15 bits creates an output pulse every 32,768 ms. The cyclical sync pulse is always triggered when the lower 15 bits of the counter are zero. By using this sync pulse, the vehicle computer can synchronize with the clock of NAV-LOC. NOTE The vehicle computer is to be configured such that it responds to the rising edge of the output pulse.

  • Page 52: Setting Of The Hardware Outputs

    The output pulses of both hardware synchronization variants are available at the same time and also on the same port. However, it is highly recommended to assign them to separate outputs of X3. (See telegram listing in the Telegram Listing publication.) 8021386/12G4 /2019-04-24 | SICK OPERATING INSTRUCTIONS | NAV-LOC Subject to change without notice...
  • Page 53 Either the voltage supply of the outputs can be connected together with the supply of the SIM, or if galvanic separation of the outputs is required, it can be supplied separately. 8021386/12G4 /2019-04-24 | SICK OPERATING INSTRUCTIONS | NAV-LOC Subject to change without notice...

  • Page 54: Troubleshooting

    Is the 2D LiDAR sensor correctly connected and was the interface correctly configured in the sensor and in the SIM? Telegrams:  <STX>sRN NDEVConnectionState<ETX>  <STX>sRN NDEVDeviceState<ETX>  <STX>sRN NDEVDataState<ETX> 8021386/12G4 /2019-04-24 | SICK OPERATING INSTRUCTIONS | NAV-LOC Subject to change without notice...

  • Page 55: Localization Hints

    Please check whether moveable objects, which were placed in the area of operation after the map creation can be removed in order to recreate the original contour. If this is not possible, please contact SICK Service for a change of the map. 9.3.1...

  • Page 56: Transport And Storage

    Storage temperature and relative humidity: see information in the operating instructions of the individual components.  For storage periods of longer than 3 months, check the general condition of all components and packaging on a regular basis. 8021386/12G4 /2019-04-24 | SICK OPERATING INSTRUCTIONS | NAV-LOC Subject to change without notice...

  • Page 57: Service And Maintenance

    The housing screws of the SIM2000-0A20A00 and 2D LiDAR sensors are sealed. Claims under the warranty against SICK AG will be rendered void if the seals are damaged or the de- vices are opened. The housing must only be opened by authorized SICK service personnel.

  • Page 58: Nav-Loc Data Sheet

    1 σ, observe the min. warm-up time of 30 minutes; real value depends on ambient conditions End position reached, observe the min. warm-up time of 30 minutes; real value depends on ambient conditions 8021386/12G4 /2019-04-24 | SICK OPERATING INSTRUCTIONS | NAV-LOC Subject to change without notice...

  • Page 59: System Latencies

    Despite the latency, the update rate keeps after initialization the rate specified in chapter 12.1. The network transfer time is depending on the system setup. 8021386/12G4 /2019-04-24 | SICK OPERATING INSTRUCTIONS | NAV-LOC Subject to change without notice...
  • Page 60 Phone +36 1 371 2680 Phone +386 591 788 49 E-mail ertekesites@sick.hu E-mail office@sick.si India South Africa Phone +91 22 6119 8900 Phone +27 11 472 3733 Further locations at www.sick.com E-mail info@sick-india.com E-mail info@sickautomation.co.za SICK AG | Waldkirch | Germany | www.sick.com...

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