View
176
Download
1
Category
Tags:
Preview:
Citation preview
3D Smart Sensor –your assistant
on mobile machines.
ww
w.if
m.c
om
/gb
/o3m
3D s
enso
rs
years
W
ARRANTY
on ifm products
2
Control systemsfor mobile vehicles
3D sensors for mobile machines
The PMD 3D sensor from ifm detects scenes
and objects three-dimensionally with only
one image capture. This avoids the motion
blur that can occur with line scanners. ifm’s
award-winning patented PMD technology
forms the basis for a sensor system that can
cope with the harsh operating conditions
of mobile machines. Besides the robust and
compact design the 3D sensor system is
specially designed for outdoor applications
with changing light conditions or bright
sunlight. The ifm 3D sensor has no moving
components in contrast to other sensors
such as laser scanners. Therefore it is partic-
ularly robust and not subject to wear.
The function principle of the PMD tech-
nology is based on time-of-flight (ToF).
The scene is illuminated by modulated,
invisible infrared light and the reflected
light hits the PMD sensor. This sensor is
also connected to the source of modula-
tion. Each pixel on the PMD chip deter-
mines the distances to the scene from the
phase shift between the transmitted and
the received signal. The integrated, active
suppression of background illumination
almost completely prevents saturation of
the image sensor by extraneous light.
That means that the PMD 3D sensor can be
operated in bright sunlight up to 120 klx.
Type O3M 3D sensor
Edgerecognition
Lineguidance
Collisionprediction
Distancemonitoring
Objectrecognition
Reflectortracking
3
Three-dimensional detection of scenesAutomatic detection of objects
Area surveillancein harsh environments
Constructionmachines
Co
nst
ruct
ion
mac
hin
es
4 - 5
Automation solutionsfor agricultural machinery
Agricultureand forestry
Ag
ricu
ltu
rean
d f
ore
stry
6 - 7
Area surveillanceof free space and gates
Transportand logistics
Tran
spo
rtan
d lo
gis
tics
Free
sp
ace
and
gat
es
8 - 9
Automation solutions andarea surveillance in port areas
Transportand logistics
Tran
spo
rtan
d lo
gis
tics
Port10 - 11
Height and distance monitoringin airport areas
Transportand logistics
Tran
spo
rtan
d lo
gis
tics
Air
po
rt
12 - 13
14 - 15Technical data
Patented technology:The PMD time-of-flight technol-ogy ensures detection of scenesand objects with just one imagecapture in three dimensions andwithout motion blur.
Enormous far sightedness:The 3D sensor that is optimisedfor long ranges even detectsmoving objects at a distance ofup to 35 metres.
Integrated evaluation:All 3D calculations are made inthe powerful sensor system andthe results are provided via theCAN bus or the Fast Ethernetconnection.
Simply convenient:The parameters of the system areset via the easy-to-handle “ifmvision assistant” for Windows.Ready-to-use function blocks areavailable for the CODESYS soft-ware for machine integration.
Construction machines
4
Collision prediction
The integrated, automatic object recog-
nition detects up to 20 stationary or
moving objects in the path of a construc-
tion vehicle. By comparing the current
speed, the motion vector and fixed param-
eters such as the braking distance, the
collision probability is calculated by the
3D sensor and transferred to the machine
control system via CAN bus or Ethernet
and then signalled to the driver.
Path monitoring
A freely adjustablereference point onthe vehicle allows,for example, onlyobstacles of a pre-defined heightabove ground toactually be detect-ed as obstacles.
Area surveillance in harsh environments
5
Co
nst
ruct
ion
mac
hin
esA
gri
cult
ure
and
fo
rest
ry
Tran
spo
rtan
d lo
gis
tics
Free
sp
ace
and
gat
es
Tran
spo
rtan
d lo
gis
tics
Port
Tran
spo
rtan
d lo
gis
tics
Air
po
rt
Distance monitoring
For simple distance functions the integrat-
ed distance monitoring provides up to
64 adjustable regions of interest (ROIs),
i.e. individual regions whose distances are
to be monitored. Rear area monitoring
can be implemented or automation or
assistance tasks can be solved.
For the harshest environ-ments:Since the sensor does not haveany moving components, it isvirtually free of wear. Its highambient temperature range of-40 to 85 °C is the basis for uni-versal use.
Resistant to extraneouslight:The PMD technology ensures highrepeatability of the measured dataeven in difficult ambient light con-ditions or with direct sunlight.
Communicative:Interfaces such as CAN withJ1939 or CANopen and FastEthernet are integrated as stan-dard. Self-diagnostic functionsfrom the sensor to the IR systemillumination unit continuallymonitor the system status.
Reliable and fast:With a highly developed algo-rithm from the automotive sectorand a frame rate of up to50 frames / second the sensorallows fast and reliable calcula-tion of the 3D information.
6
Agriculture and forestry
Swath recognition
The mobile 3Dsensor assumesswath recognitionand provides theinformation forautomatic steeringto the machinecontrol system.
7
Automation solutionsfor agricultural machinery
Edge recognition
With more than 1,000 individual measure-
ments the robust 3D sensor detects the
mowing edge thus ensuring precise and
constant guidance for an efficient harvest
process. All relevant data is provided by
the sensor to the machine control system
to implement automatic steering and to
relieve the driver.
Co
nst
ruct
ion
mac
hin
esA
gri
cult
ure
and
fo
rest
ry
Tran
spo
rtan
d lo
gis
tics
Free
sp
ace
and
gat
es
Tran
spo
rtan
d lo
gis
tics
Port
Tran
spo
rtan
d lo
gis
tics
Air
po
rt
Line guidance
A highly developed algorithm with gener-
ic recognition of linear contours provides
the machine driver with a selection of
recognised lines and their guidance.
With interrupted contours the data is
interpolated. This ensures that guidance
does not stop in case of smaller inter-
ruptions. An offset function ensures fine
adjustment between vehicle and the line
to be followed.Grape harvestingmachine
To relieve thedriver the 3D sen-sor transmits allrelevant data for
automatic steeringalong the graperow to themachine controlsystem.
Continuously reliable:Thanks to the specially modulat-ed infrared light a continuouslyhigh recognition rate can beachieved even with reflectivematerial of different intensity.All that with a minimum responsetime of only 40 ms.
High coverage:The range of up to 35 m intypical environments and up to50 m on reflective objects en-sures universal use.
Goal-oriented:Object distances and dimensionsare automatically provided in aclear grid using the selectableworld coordinate system.The ground recognition integrat-ed in the algorithm ensures highunambiguity of object recogni-tion.
Transport and logistics
Truck positioningon a loading bay
To protect the lo-gistic facilities thedriver is informedas soon as thecorrect distance tothe bay has beenreached so that heshould come to astop.
8
Open-air surveillance
With the automatic object recognition of
up to 20 objects including classification
into moving or static objects the 3D sensor
provides many possibilities for area
surveillance.
Area surveillance of free space and gates
Position determination of
transport vehicles
For simple position determination the
integrated distance monitoring provides
up to 64 adjustable regions of interest
(ROIs), i.e. individual regions whose
distances are to be monitored.
This ensures, for example, position deter-
mination of a transport vehicle under-
neath a loading point.
Co
nst
ruct
ion
mac
hin
esA
gri
cult
ure
and
fo
rest
ry
Tran
spo
rtan
d lo
gis
tics
Free
sp
ace
and
gat
es
Tran
spo
rtan
d lo
gis
tics
Port
Tran
spo
rtan
d lo
gis
tics
Air
po
rt
9
0 m
5 m
Fast reaction:The 2 x 32-bit processor archi-tecture ensures very fast and reli-able calculation of the 3D datawith up to 50 frames / seconddirectly in the sensor system.
No interference:Automatic suppression of back-ground illumination ensures reli-able recognition even with fullsolar radiation of 120 klx.
Reliable parallel operation:Reliable operation of several3D sensor systems in the sameenvironment is guaranteed bya frequency hopping principlechanging the modulation fre-quency automatically whenanother system is recognised.
Automatic detection ofreflectors:By detecting highly reflectiveobjects these can be classifiedand evaluated as reflectors.Even simple safety vests sufficefor this recognition.
Transport and logistics
Driver supporton a containerstacker crane
Automatic colli-sion predictionsupports thecrane driver withchanging the posi-tion and informsabout obstaclesin the path.
Simple distance monitoring
The integrated function ‘minimum
distance’ can also be used for simple area
monitoring. It informs the driver when a
minimum distance has been reached and
simultaneously it signals where this next
distance is in the recognition field.
10
Automation solutions andarea surveillance in port areas
Automatic vehicle tracking with
collision prediction
A special classification of reflective objects
is used as basis for automatic tracking of
the vehicle ahead. The proven and highly-
developed algorithm from the automotive
sector is relied on.
For example, the minimum and maximum
distance to the vehicle ahead is set or
Co
nst
ruct
ion
mac
hin
esA
gri
cult
ure
and
fo
rest
ry
Tran
spo
rtan
d lo
gis
tics
Free
sp
ace
and
gat
es
Tran
spo
rtan
d lo
gis
tics
Port
Tran
spo
rtan
d lo
gis
tics
Air
po
rt
11
recognition is limited to a certain arrange-
ment of reflectors via various parameters.
Additional collision prediction ensures
that obstacles are reliably detected and
signalled to the machine control system in
two stages. Interference by direct solar
radiation or other 3D sensor systems is
automatically suppressed.
High-performancemeasuring system:Thanks to the patented PMDtechnology it is possible to havea high repeatability of themeasured data even on materialsof different reflectivity. The multi-phase measuring system evendetects interference caused bydust or water mist formation.
Robust sensors:The protection ratings IP 67 andIP 69K and a wide temperaturerange of -40 to 85 °C ensureuniversal use in different appli-cations.
High reliability:Integrated self-diagnostic func-tions from the sensor to the IRsystem illumination unit alwaysensure comprehensive infor-mation of the machine controlsystem about the current functionstatus of the 3D sensor. In case ofdamage, interference or heavysoiling the sensor system can givecorresponding signals in time.
Transport and logistics
Height monitoringfor tankers
The integrated dis-tance function‘minimum dis-tance’ can monitorup to 64 selectablepoints above thetanker simulta-neously.
12
The driver can,for example, besupported whenhe positions thetanker underneaththe aeroplanewing or is in-formed if the wingis lowered.
Height and distance monitoringin airport areas
Simple distance monitoring
The integrated function ‘minimum
distance’ can also be used for simple area
monitoring. It informs the driver when a
minimum distance has been reached and
simultaneously it signals where this next
distance is in the recognition field.
Co
nst
ruct
ion
mac
hin
esA
gri
cult
ure
and
fo
rest
ry
Tran
spo
rtan
d lo
gis
tics
Free
sp
ace
and
gat
es
Tran
spo
rtan
d lo
gis
tics
Port
Tran
spo
rtan
d lo
gis
tics
Air
po
rt
13
Assistance foraircraft tractors
Thanks to easymonitoring of apre-defined areathe 3D sensor caneither provide an
Positioning sup-port for conveyorvehicles
More than 1,000individual measure-ments preciselydetect the environ-ment of the con-veyor belt.Customer-specificapplication solu-tions can be
implemented fastand easily usingaltogether 64‘regions of inter-est’ (ROIs), i.e.individual regionswhose distancesare to be moni-tored.
end positionmessage or even acontour imageof the nose wheelto the machinecontrol system.
Type O3M 3D sensorTechnical data
14
O3M PMD 3D sensor Order no.
Mobile 3D smart sensor O3M151
Accessories Order no.
IR system illumination unit (850 mm)for mobile 3D sensors O3M950
CAN/RS232 USB interface CANfox EC2112
Adapter cable set for CANfox EC2114
Operating software for vision sensors E3D300
U-shaped bracket, suitable for sensor or illumination unit E3M100
Mounting set for clamp mounting,Ø 14 mm, stainless steel E3M103
Connection technology Order no.
MCI connection cable,connection sensor / system illumination unit
Ethernet, cross-over patch cable,PVC cable, M12 / RJ45
E3M121
M12 socket, voltage supplysystem illumination unit, PUR cable, 4 poles
E3M122
E3M131
E3M132
E11898
E12204
Length[m]
1
2
2
5
2
E3M123
E3M133
E12205
3
10
20
10
Technical data
Type of sensor
Pixel resolution [Pixel]
Horizontal x vertical angel of aperture [°]
Illumination
PMD 3D chip
64 x 16
70 x 23
external illuminationnecessary
Max. frame rate [Hz] 25 / 33 / 50
Connection M12 connector
Protection rating / protection class IP 67 / IP 69K, III
Operating voltage [V DC] 9...32
Ambient temperature [°C] -40...85
21.01 x 6.16
www.ifm.com/gb/o3m
For more information, such as technical data,application videos or prices please go to
Overviewoperating distance / field of view size
15
Operating distance [m]3 5 10 25 35
4.2x1.247 x 2.05
14 x 4.11
15
35.01 x 10.27
49.01 x 14.37
Field of view size [m]
Visit our website:
www.ifm.com
ifm electronic gmbhFriedrichstraße 145128 EssenTel. +49 / 201 / 24 22-0Fax +49 / 201 / 24 22-1200E-mail info@ifm.com
Over 70 locations worldwide –at a glance at www.ifm.com
Position sensors
Sensors formotion control
Industrial imaging
Safety technology
Process sensors
Condition monitoringsystems
Industrialcommunication
Identification systems
Systems formobile machines
Connectiontechnology
Overviewifm product range:
Accessories
ifm a
rtic
le n
o. 7
8001
299
· We
rese
rve
the
right
to
mak
e te
chni
cal a
ltera
tions
with
out
prio
r no
tice.
· Pr
inte
d in
Ger
man
y on
non
-chl
orin
e bl
each
ed p
aper
. 11/
14
Recommended