IBEO激光雷达文档.pdf

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Laserscanner ibeo LUX 2010® Operating Manual About this document Operating Manual ibeo LUX 2010® Laserscanner Created on: 07.07.2014 Changed on: CUSTOMER_DOCU_LUX(MODEL 2010).DOC Version 3.0 ORIGINAL 1-0

Operating Manual ibeo LUX 2010® Laserscanner About this document Ibeo Automotive Systems GmbH Merkurring 60-62 D - 22143 Hamburg Phone: +49 - (0) 40 298 676 - 0 Fax: +49 - (0) 40 298 676 - 10 e-mail: info@ibeo-as.com Copyright All information contained in this documentation has been collected with utmost care and been checked for conformance with the ibeo LUX 2010® and programs. Nevertheless, minor variations cannot be excluded entirely. Necessary corrections will be documented in subsequent versions. The manufacturer reserves the right to this operating manual (OM). Therefore, reproduction, copying, distribution or use for competitive purposes of this manual, as a whole or partially, is forbidden unless the manufacturer has given written consent. Printing this OM for personal use is permitted. copyright© 2010 1-1

Operating Manual ibeo LUX 2010® Laserscanner About this document Version History Date 30.04.2012 18.07.2012 13.02.2014 28.02.2014 04.04.2014 15.04.2014 07.07.2014 Version 1.0 1.1 1.2 1.3 1.4 1.5 1.6 Changes Initial release CAN Data Parser adapted CAN Cable/Connection/Integration description added Deleted old ILV introduction Corrected Vertical FOV Drawing Cleaned data type reference Added optional Tracking Box 1-2

Operating Manual ibeo LUX 2010® Laserscanner About this document 1 1.1 1.2 1.3 1.4 1.5 1.6 About this document .......................................................................................................................................... 1-1 Principle of the document ............................................................................................................................................ 1-2 Target group ................................................................................................................................................................. 1-3 Symbols and notes ....................................................................................................................................................... 1-4 Terms and definitions................................................................................................................................................... 1-5 1.4.1 Operator ....................................................................................................................................................................... 1-5 1.4.2 Trained staff ................................................................................................................................................................. 1-5 1.4.3 Administrator ............................................................................................................................................................... 1-5 Manufacturer ............................................................................................................................................................... 1-6 Warranty ...................................................................................................................................................................... 1-7 2 2.1 2.2 2.3 Safety................................................................................................................................................................. 2-1 Intended Use ................................................................................................................................................................ 2-2 Improper use ................................................................................................................................................................ 2-2 General notes on safety ............................................................................................................................................... 2-2 2.3.1 Laser class ..................................................................................................................................................................... 2-2 2.3.2 Operation ..................................................................................................................................................................... 2-2 2.3.3 Disposal ........................................................................................................................................................................ 2-2 3 3.1 3.2 3.3 3.4 Product overview ............................................................................................................................................... 3-1 System variants ............................................................................................................................................................ 3-2 3.1.1 System of standard individual components ................................................................................................................. 3-2 Components ................................................................................................................................................................. 3-3 3.2.1 ibeo LUX 2010® ............................................................................................................................................................ 3-3 Interfaces ................................................................................................................................................................... 3-14 3.3.1 Interface Ethernet ...................................................................................................................................................... 3-14 3.3.2 Interface CAN ............................................................................................................................................................. 3-15 ibeo LUX CAN Data Parser ......................................................................................................................................... 3-17 3.4.1 Configuration.............................................................................................................................................................. 3-18 3.4.2 Interface RS232 .......................................................................................................................................................... 3-21 3.4.3 Interface voltage ........................................................................................................................................................ 3-21 4 4.1 4.2 4.3 4.4 Scan and object data........................................................................................................................................... 4-1 Step 1, analysis of the scan data .................................................................................................................................. 4-4 Step 2, segmenting the scan data ................................................................................................................................ 4-5 Step 3, object formation .............................................................................................................................................. 4-5 Step 4, classification ..................................................................................................................................................... 4-7 5 5.1 5.2 5.3 6 6.1 6.2 Packaging, Storage and Transport ...................................................................................................................... 5-1 Packaging...................................................................................................................................................................... 5-2 5.1.1 ibeo LUX Single System and individual components .................................................................................................... 5-2 Storage ......................................................................................................................................................................... 5-2 Transport ...................................................................................................................................................................... 5-2 Mounting and installation .................................................................................................................................. 6-1 Mounting ...................................................................................................................................................................... 6-2 6.1.1 ibeo LUX 2010® ............................................................................................................................................................ 6-2 Installation .................................................................................................................................................................... 6-2 6.2.1 System of standard individual components ................................................................................................................. 6-2 7 7.1 Configuration ...................................................................................................................................................... 7-1 ibeo LUX 2010® ............................................................................................................................................................ 7-2 7.1.1 Parameters of the interfaces ........................................................................................................................................ 7-2 7.1.2 Parameters of the measuring process ......................................................................................................................... 7-2 7.1.3 Parameters of the mounting position and the carrier vehicle ..................................................................................... 7-3 8 8.1 8.2 8.3 Commissioning .................................................................................................................................................. 8-1 First steps ..................................................................................................................................................................... 8-2 Commissioning ............................................................................................................................................................. 8-2 8.2.1 Quick start incl. basic configuration for an ibeo LUX Single System ............................................................................ 8-2 8.2.2 Starting the operating mode "measuring process" ...................................................................................................... 8-3 Decommissioning ......................................................................................................................................................... 8-3 1-3

Operating Manual ibeo LUX 2010® Laserscanner About this document 9 9.1 9.2 9.3 9.4 9.5 Adjustment ......................................................................................................................................................... 9-1 Coordinate system ....................................................................................................................................................... 9-2 Step 1, mounting position ibeo LUX 2010® .................................................................................................................. 9-4 Step 2, adjusting the pitch angle .................................................................................................................................. 9-4 9.3.1 Adjustment with the help of a laser detector .............................................................................................................. 9-5 9.3.2 Adjustment using ILV and a reference target............................................................................................................... 9-5 Step 3, adjusting the yaw angle ................................................................................................................................... 9-6 Step 4, test ................................................................................................................................................................... 9-7 10 Operation ......................................................................................................................................................... 10-1 11 Ibeo Tracking Box ............................................................................................................................................. 11-3 11.1 Why Ibeo Tracking Box ............................................................................................................................................... 11-4 11.1.1 LUX sensor tracking vs. Tracking Box tracking ...................................................................................................... 11-4 Improvements ...................................................................................................................................................... 11-4 11.1.2 Connection Scheme.................................................................................................................................................... 11-4 Prerequisites .............................................................................................................................................................. 11-4 Ibeo Tracking Box installation .................................................................................................................................... 11-5 Power on .................................................................................................................................................................... 11-5 Ethernet Interface ...................................................................................................................................................... 11-6 Configuration Options ................................................................................................................................................ 11-6 11.2 11.3 11.4 11.5 11.6 11.7 11.7.1 11-6 11.7.2 System Status ....................................................................................................................................................... 11-6 11.7.3 Edit System Files ................................................................................................................................................... 11-6 11.7.4 Packages ............................................................................................................................................................... 11-7 11.7.5 Package Configuration .......................................................................................................................................... 11-8 Dimensions ............................................................................................................................................................... 11-10 Specifications ........................................................................................................................................................... 11-10 11.9.1 Power connector pin Assignment ....................................................................................................................... 11-10 11.10 Package Content ...................................................................................................................................................... 11-11 11.8 11.9 Cleaning and maintenance.............................................................................................................................. 12-12 12 12.1 Cleaning .................................................................................................................................................................... 12-13 12.2 Maintenance ............................................................................................................................................................ 12-13 12.3 Customer service ...................................................................................................................................................... 12-13 13 Warnings and fault messages ........................................................................................................................... 13-1 14 14.1 Technical data ................................................................................................................................................... 14-1 ibeo LUX 2010® .......................................................................................................................................................... 14-2 14.1.1 Identification ........................................................................................................................................................ 14-2 14.1.2 Electric data .......................................................................................................................................................... 14-2 14.1.3 Miscellaneous ....................................................................................................................................................... 14-2 15 15.1 15.2 15.3 Annex ............................................................................................................................................................... 15-3 Abbreviations ............................................................................................................................................................. 15-4 Glossary ...................................................................................................................................................................... 15-5 Dimension sheet......................................................................................................................................................... 15-7 15.3.1 Iibeo LUX 2010® .................................................................................................................................................... 15-7 15.3.2 Boundary conditions for integration .................................................................................................................... 15-8 1-4

Operating Manual ibeo LUX 2010® Laserscanner About this document About this document Please read this chapter carefully before working with the documentation and the ibeo LUX 2010®. 1-1

Operating Manual ibeo LUX 2010® Laserscanner About this document Principle of the document This operating manual (OM) contains all information required for transport, storage, mounting, installation, commissioning, and operation. The operating manual is a part of the technical documentation of the ibeo LUX 2010®. This operating manual does not include instructions for operation of the vehicle into which the ibeo LUX 2010® is integrated. For information about that, refer to the operating manual of the vehicle. This operating manual shall help you to avoid improper use. Strict adherence to the instructions given in this operating manual ensures the function of the ibeo LUX 2010®. Therefore always keep this operating manual in the vehicle. 1-2

Operating Manual ibeo LUX 2010® Laserscanner About this document Target group This operating manual is written for trained and qualified staff who will integrate, commission or configure the ibeo LUX 2010® into a vehicle. The following conventions apply in this operating manual:  The text uses abbreviations. In each chapter, abbreviations appearing the first time are explained. The abbreviation is written in parenthesis behind the term. Example: Operating Manual (OM)  The pages of each chapter are numbered subsequently.  Tables and figures are numbered consecutively within each chapter.  Links in the text lead you to supplementary or more detailed information. Links to the figures are structured as follows: 4-1/2 item number consecutive number of the figure chapter number In chapter 2 Safety, page 2-1, you find general safety notes about possible dangers when operating the ibeo LUX 2010®. Additionally, specific safety notes are printed directly before instructions which, if not followed properly, could result in danger for persons or the vehicle. This OM is subject to changes. If the ibeo LUX 2010® is changed as a result of technical advancement, you must include the additional or changed pages at the corresponding place. 1-3

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