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Related Manuals for Blickfeld Cube 1
Summary of Contents for Blickfeld Cube 1
- Page 1 USER MA NUA L Cube 1, Cube 1 Outdoor Cube Range 1...
- Page 2 Cube 1, Cube 1 Outdoor, Cube Range 1 LEG A L INFO RMATI ON ©2022 This user manual or excerpts therefrom may not be reproduced or forwarded to third parties without the explicit permission of the Blickfeld GmbH. Version 4.2...
- Page 3 September 19, 2021 • Added compliance infor- mation: North America. • Installation and mount- ing instructions • Safety information February 17, 2022 Outdoor variant informa- tion added April 21, 2022 Cube 1 Outdoor pinout corrected September 23, 2022 Technical Specification Version 4.2...
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Page 4: Table Of Contents
Contents About this document ............General information ..................Symbols and signal words ............... Abbreviations ....................Safety information ............10 Intended use ....................10 Unintended use ....................10 Particular hazards and safety instructions ........12 Product description ............14 Model numbers ....................14 Product overview ................... - Page 5 Installation ................. 33 Scope of delivery .................... 33 Mounting ......................33 Electrical installation / cabling ............... 35 Operation ................38 Powering up the Cube ................38 Connecting to the WEBGUI for the first time ......38 Starting LiDAR operation ................. 41 Stopping LiDAR operation ............... 41 Configuring the sensor ................
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Page 6: About This Document
About this document General information This document describes the installation and operation of the Cube 1 and Cube Range 1 LiDAR sensors manufactured by Blickfeld GmbH. It provides important information regarding the use of said products and is intended for qualified personnel that is familiar with the local work safety regulations and general safety regulations applicable for the application area. - Page 7 About this document EXAMPL E Laser radiation warning WARNING If the Cube is not operated correctly, the optical radia- tion may injure the eyes and skin. • Never open the protective housing of the Cube. • Never intentionally look into the optical component of the Cube while the Cube is switched on.
- Page 8 About this document ME ANIN G OF THE WARN ING SYMBO LS The following warning symbols indicate sources of danger: Symbol Meaning General warning symbol. Warns of life-threatening electrical voltage. Indicates a potential danger due to laser radiation. Fail- ure to observe the safety notes can lead to serious injury, especially to the eyes.
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Page 9: Abbreviations
About this document Abbreviations Abbreviation Description Blickfeld Scanner Library DHCP Dynamic Host Configuration Protocol European Norm Field-of-view Graphical User Interface Local Area Network LiDAR Light Detection and Ranging MEMS Micro-Electro-Mechanical Systems Power over Ethernet Robot Operating System Visualization Toolkit for Unstructured grids Tab. -
Page 10: Safety Information
LiDAR technologies, the Cube is a precise optical measuring device and must be handled with care. Blickfeld assumes no liability for damage and danger caused by unintended or incorrect use. Any use of the Cube outside of the defined technical specifi- cations and requirements described in this manual is considered unintended use. - Page 11 The product is not suited for applications that cannot tolerate the loss • of functionality of the sensor. The use of accessories that are not supplied or authorized by Blickfeld • is at your own risk. Strong shaking or vibrations, e.g. due to dropping of the Cube, can •...
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Page 12: Particular Hazards And Safety Instructions
Cube from close distance while the Cube is switched on. • No service or repair work may be performed except by authorized Blickfeld personnel. • Only use the accessories specified or authorized by Blickfeld. • Adhere to the applicable national regulations on optical radiation protection. - Page 13 Safety information Electrical voltage! WARNING Inside the protective housing, hazardous voltages are present in the energized state. Electrical voltage can lead to serious injury or death. • Never open the protective housing of the Cube. • The power supply equipment must meet all require- ments set forth in the technical specification and the electrical installation instructions in this manual.
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Page 14: Product Description
Product description Model numbers The different LiDARs of the Cube 1 product family have an 8-digit model number associated to them, which is built up according to the following scheme: CUxx1-yy, where xx and yy are variant-specific as detailed in the fol-... - Page 15 CUxx1-IH CUBE1-OV All versions Fig. 1 Cube overview. Cube 1 front (top left), Cube Range 1 front (top center), Cube 1 Outdoor front (top right), connector side (bottom left), mounting side (bottom center), back side (bottom right). Optical aperture (front)
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Page 16: Materials
Cube 1 S/N: 123 456 789 Class 1 Laser Product Model: CUBE1-IH CAN ICES-3(B)/NMB-3(B) Blickfeld GmbH / Barthstr. 12 / 10...26 V DC max. 15 W D-80339 Munich / Germany Caution - Warranty void if opened! Complies with FDA performance... -
Page 17: Function Description
Product description Conformity / certification marks; WEEE symbol Laser class designation; equipment authorization under ISED ICES- Voltage supply rating; max. power rating Function description The Cube operates with solid state LiDAR technology. A laser source gener- ates laser pulses that hit MEMS-based silicon mirrors as shown in Fig. 3. Every Cube contains two MEMS beam deflection units, which together form the scanner. -
Page 18: Laser Source
In the Cube, the laser source is a collimated laser diode with a wavelength of 905 nm. The emitted laser beam has a collimation of 0.4° for Cube 1 and 0.24° for Cube Range 1. The laser is controlled in such a way that a regular pattern results in the point cloud with the configured horizontal resolution. -
Page 19: Field-Of-View
Product description 3.5.2 Field-of-view The Cube continuously scans the surroundings using two scanners in the form of MEMS mirrors. They deflect the laser beam horizontally and vertically to measure a scene in two dimensions. The maximum deflection angles in the horizontal and the vertical direction define the field-of-view. If the hori- zontal scanner deflects the laser by + / - 35°, for example, this corresponds to a horizontal FoV of 70°. - Page 20 The scan pattern can be configured manually in the WebGUI or programmati- cally using the Blickfeld API (Blickfeld scanner library (BSL)). The following parameters are available: The number of scan lines in the down-ramping and the up-ramping •...
- Page 21 Product description Point cloud data can be recorded during the up- and down-ramping phases. The frame mode setting determines whether ranging measurements are per- formed during one of either phases or during both. Four settings are available: Only up The laser pulses only during up-ramping phase, meaning that the point cloud contains only scanlines from the up-ramping phase.
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Page 22: Coordinate System
Product description Interleave: Laser pulses are shifted by half the angle spacing for every • other scanline, which creates the following pattern: Coordinate system The LiDAR point cloud data contains the Cartesian coordinates (x, y, z ) of all detected echoes per frame. Additionally, the coordinates are available in θ... -
Page 23: Electrical Connection (Cuxx1-Ih Only)
Product description Fig. 5 Cube coordinate system. Definitions and measurements of the origin location are identical for Cube Range 1 Electrical connection (CUxx1-IH only) The indoor variants CUxx1-IH are designed for an input voltage of 12 V DC. A 2-pin Phoenix Contact plug with type designation 1817615 is used for the power supply. -
Page 24: Thermal Properties
Product description Thermal properties During normal operation at room temperature, consumption is approx. 9 W. During the startup procedure, peak values of 13 W can occur. The heat is primarily output on the mounting side of the Cube. To achieve optimal performance, especially at higher ambient temperatures, we recom- mend mounting the Cube on a prepared mount that can dissipate the gen- erated heat. - Page 25 Product description Front Fig. 7 Pinout of the M12 Ethernet receptacle on the sensor (CUBE1-OV only). For the pin assignment, see table below. Signals Pin Assignment 1/10 Gbit M12 X-coded color coding (TIA-568B) BI_DA+ White / orange BI_DA- Orange BI_DB+ White / green BI_DB- Green BI_DC+ White / blue...
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Page 26: Time Synchronization
Product description 3.9.2 Time synchronization The Cube supports the NTPv4 and PTPv2 protocols for synchronization of the Cube’s onboard clock over the network. 3.9.3 Point cloud output The primary data output of the Cube is a 3D point cloud, which is ref reshed at a certain frame rate that depends on the configured resolution and field- of-view. -
Page 27: Technical Specifications
Apart from the high-quality 3D point cloud data, the Cube outputs data of the integrated inertial measurement unit (IMU), timing data, and device sta- tus data. For a full overview of the retrievable data, please visit the user doc- umentation of the Blickfeld Scanner Library under docs.blickfeld.com/cube/ latest/bsl_index.html. - Page 28 Product description Cube 1 Cube Range 1 Maximum field-of- 70° x 30° 18° x 12° view (Horizontal x vertical) Vertical resolution 5 – 400 scan lines per 5 – 200 scan lines per frame frame (user-configurable) (user-configurable) Horizontal resolution 0.4° – 1.0°...
- Page 29 Product description L A SE R Cube 1 Cube Range 1 Laser class Class 1 laser product eye safe (EN / IEC 60825-1:2014, Ed. 3) Complies with FDA performance standards for laser products except for conformance with IEC 60825-1 Ed. 3., as described in Laser Notice No.
- Page 30 Cross-platform graphical web interface with interface interactive 3D point cloud visualization and recording feature. Control & stream TCP connection with Blickfeld protocol; interface C++ library and Python package as client soft- ware interface; ROS drivers available on request Time synchronization NTPv4 and PTPv2 (IEEE 1588) MECH AN ICA L / E L ECTRICAL...
- Page 31 Product description Power connector CUxx1-IH (Indoor): Phoenix Contact 1817615 Compatible power supply connector: Phoenix Contact 1845219 CUBE1-OV (Outdoor): Not available (Power over Ethernet) Electromagnetic EN 61326-1:2013 compatibility • Emissions: CUxx1-IH (Indoor): Class B (residential envi- ronments) CUBE1-OV (Outdoor): Class A (commercial environments) •...
- Page 32 Product description OPE R ATION A L Operating ambient -30 °C – 60 °C temperature (mounted) Storage temperature -30 °C – 60 °C Humidity Max. 85 % at 30 °C, non-condensing Altitude 4000 m above sea level Ingress protection CUxx1-IH (Indoor): (EN 60529:1991/ IP40 A2:2013/AC:2019-02)
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Page 33: Installation
The Cube must only be operated after it has been installed to a stable mount- ing base. Always use the M5 tapped holes on the side of the Cube for this purpose. Blickfeld offers a suitable mounting bracket, which provides a ¼"-20 UNC threaded hole for use with standard photography tripods or security camera mounts (see Fig. - Page 34 Do not place the Cube in the immediate vicinity of sources of strong magnetic fields. Fig. 8 Example of the Cube mounted on a tripod using the supplied mounting bracket Stand (not included) Mounting bracket (available from Blickfeld) Ethernet cable Power cable (only indoor variants) Version 4.2...
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Page 35: Electrical Installation / Cabling
• If the Cube is used with an unshielded data cable or with any other than the voltage supply recom- mended by Blickfeld, compliance of the system with the specified performance standards regarding elec- tromagnetic compatibility (EMC) can no longer be guaranteed. - Page 36 Computer Cube Power supply unit Switch If a different voltage supply is used than the one recommended by Blickfeld or delivered with the Cube, the following instructions apply: The voltage supply circuit connected to the Cube must be configured •...
- Page 37 Installation Use cables with suitable wire cross sections that comply with the • applicable standards for electrical safety. Use the voltage supply connector specified in this manual and do not • modify the connector on the Cube nor open the protective housing to access the internal electronics.
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Page 38: Operation
Instead of reading through the instructions in this section, you can alternatively watch the tutorial videos, which are available on the Blickfeld website. Scan the QR code to access the web site on your mobile device. They cover the initial setup of the Cube, the features of the WebGUI point cloud viewer and the conf iguration of the scan pattern. - Page 39 Operation Open an Internet browser such as “Mozilla Firefox” oder “Google Chrome”. Go to the address “http://cube-hostname/”, in which “cube-hostname” is an identifier assigned to the Cube. The factory-set hostname that must be used when connecting for the first time is “cube-xxxxxxxxx”, where xxxxxxxxx is the 9-digit serial number of the device.
- Page 40 Operation Fig. 11 shows the landing page of the WebGUI. Visit the WebGUI documenta- tion pages at docs.blickfeld.com/cube/latest/web_gui_index.html for a more detailed description of the WebGUI functions. Fig. 11 WebGUI Dashboard* Sidebar menu Device status overview and reboot button Time synchronization status display...
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Page 41: Starting Lidar Operation
Cube. A stopped scanner is indicated by the device sta- tus reading “READY”, which is displayed on the dashboard of the WebGUI. Alternatively, the status can be requested via the Blickfeld Scanner Library (BSL). If the scanner status reads “RUNNING”, the scanner is still operating. -
Page 42: Troubleshooting Of The Webgui Connection
Pre-processing algorithms such as Background Subtraction, Neighbor Filter, and coordinate transformation can be accessed via the WebGUI Viewer. All of the above settings can alternatively be configured via the Blickfeld Scanner Library (BSL). Some features are only available via the BSL, for instance frame synchronization between multiple Cubes. -
Page 43: Additional Software Tools
Power over Ethernet of your system is working, otherwise contact Blickfeld support. Additional software tools Software tools, firmware updates and the online documentation of the Cube can be accessed at www.blickfeld.com/resources. Tab. 8 gives an overview of the available tools. Tool Function... - Page 44 Operation When further analysis and advanced visualization of recorded data is required, ParaView can be used. ParaView is an open-source, multi-platform data analysis and visualization application, which can be downloaded free of charge from www.paraview.org. Version 4.2...
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Page 45: Service And Maintenance
Service and repair information The Cube contains no parts serviceable by the user. Any Note repair procedures may only be performed by Blickfeld authorized technicians. Do not open the sensor under any circumstance. Danger of injury due to laser beam WARNING •... -
Page 46: Storage And Disposal
Make sure to erase any personal data such as IP addresses or device names that may be stored on the decommissioned devices to prevent misuse. For disposal, customer located in Germany have the option to return decom- missioned devices to Blickfeld. Please contact support@blickfeld.com for fur- ther information. Version 4.2... -
Page 47: Customer Service / Support
Customer service / support Customer service / support Please do not send devices to Blickfeld without having been requested to do so. Contact the Blickfeld Support via support@blickfeld.com for technical support or repair requests. Blickfeld GmbH Barthstr. 12 80339 Munich, Germany Tel.: +49 89 230 69 35 00 E-mail: support@blickfeld.com... -
Page 48: Compliance Information
(SVHC) listed in the Authorization Candidate list under article 59 of the European Union REACH Regulation (EC) No 1907 / 2006. In accordance with Article 33.1 of REACH, Blickfeld discloses the presence of lead zirconate titanate (CAS-No. 12626-81-2) in excess of 0.1 % (w / w) in the final product.
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