ILS-F31-CObstacle Avoidance Laser Scanning Sensor User Manual
Contents Laser Scanning Sensor User Manual 11. Product Overview 32. Parameters Series Products Product Classification 2. Detailed Description Mechanical Dimensions 5. Electrical connection 1. Pin definition (straight wire) 2. DB15 pin definition (custom DB15 connector) 3. Electrical connection diagram (straight wire) 6. Area selection 7. Software operation 1. Overview 2. Software interface 3. Detailed description 4. Data monitoring display 8. Operation 9. Assembly requirements 1. Precautions 2.
1、 Product overview ILS-F31-C laser The scanning sensor adopts the principle of time-of-flight (TOF) ranging and integrates cutting-edge technologies in the fields of optics, electricity, and mechanical kinematics.
2、 Technical parameters ILS-F31-C Angular resolution 0.25°/ 0.33°/0.5°/1° area group 16 area groups (each area group contains 3 areas) Working mode Obstacle avoidance switch input 4 3*area output+1*sync/status output (maximum output switch output current 100mA) parameter setting RS232/Type-C interface data output interface RS232/Type-C description: 1. F31-C series The product can support four angular resolution switching, and the default angular resolution is 0.33°.
recognized. (3) Due to the loss of the switching power supply itself, conversion efficiency and other factors, it is recommended to choose a power supply with a power greater than 4w.
3、 Series Product 1. Product Classification Product Series N series P series Description: 1. Model ILS-F31-CNL005 Output Type NPN ILS-F31-CNL008 NPN ILS-F31- CPH005 PNP ILS-F31-CPH008 PNP Driving Capability low-level drive low-level drive high-level drive high-level drive Ranging Capability 0.05m~5m 0.05m~8m 0.05m~5m 0.05m~8m Regarding the drive capability, the device marked as "low-level drive" means that the device has drive capability when it outputs low level.
P series: In idle state (no obstacle detected), output high level; in trigger state (with an obstacle), output low level; in connection mode, OUT pin is connected to the anode of the drive circuit.
4、 Mechanical dimensions (dimensions marked in the figure are in mm)
5、 Electrical connection 1.
2.
3. Electrical connection diagram (scattered wires) Note 1. 4 power supply wires All need to be connected, not just two wires. 3. Control unit: The device outputs signals to the radar for zone group switching. If the 2. The ground wire of the serial port and the power supply uses the same ground. COM terminal is connected to V-, the input pin needs to be connected to V+; if the COM terminal is connected to V+, the input pin needs to be connected to V-.
4. Controlled unit: From the radar output signal to the device, it is used to indicate whether there is an obstacle at present, and the output high level is consistent with the radar power supply voltage. 5. Measurement of the output signal of the controlled unit: The output signals OUT1, OUT2, OUT3, and OUT4 are relative to the power supply ground. .
6、 Area selection ILS-F31-C can select the current working area group by switching the input IO signal or through the host computer. Note that the two methods are not compatible, and pay attention to selecting the correct radar according to the needs. When the radar is an IO signal switching area group, it is controlled by the digital inputs IN1, IN2, IN3, and IN4, and 16 types of area selection signals can be switched. The selection conditions are as follows.
7 - Software Operation". The specific communication protocol is as follows: Set the byte sequence Content description AA 88 88 AA frame header number 0-3 4 5 main command 0xE3 number sub-command 0x13 number 6-9 data frame length includes all bytes of the frame header and frame 10 fields group 1-16 11 12-15 description: tail, the high order is in the first XOR check reserved, fixed as 0 88 AA AA 88 End of frame 1.
number 0-3 4 5 AA 88 88 AA main command number sub-command number 6-9 data frame length 10 XOR check is 11-14 88 AA AA 88 frame header 0xE4 0x13 includes all bytes of frame header and frame end, the high order is reserved in the first reserved, fixed at 0 Frame end query working area group - reply byte sequence content description AA 88 88 AA frame header number 0-3 4 5 main command number subcommand number 0xF4 0x13 includes all bytes of frame header and frame 6-9 data frame length 10 1
7、 software operation 1. overview ILS-F31-C obstacle avoidance laser sensor supports RS232 serial port and Type-C for data communication, please select the connection method as serial port when using, and then set the regional parameters configuration and query. When using, you can choose the connection method according to your needs. The following ILS-F31-C obstacle avoidance laser sensors are referred to as F31-C for short. 2. Software interface Figure 2.
3. Data monitoring: After it is set to enable, it can be monitored by the host computer 4. Reporting channel: It is divided into serial port upload and Type-C, which is selected 5. Read configuration file: read the device area information from the radar to the host 6. Write Configuration File: Write the locale information to the radar. software. The default is disabled each time the radar is powered on. according to the current connection status. computer. 7.
Figure 3.1.1 Serial port connection 3.1.2 Type-C connection When using a Type-C connection, the software will automatically identify the connected data cable in the device after startup and display it in the form of a serial port number. The user can directly select the corresponding correct serial port number for the connection. When using Type-C, the serial port baud rate should be selected as 115200. The driver will be installed automatically when you use Type-C for the first time.
3.3. Figure 3.2.1 Obtaining the software version parameter configuration and querying 3.3.1. the minimum detection width is disabled by default, that is, the minimum detection width is limited to 0mm. In this state, the minimum object detection width of the device is an adaptive state, and the F31-C can maximize its use of Obstacle detection capability. The minimum detection width can be set to 30mm, 40mm, 50mm, 70mm, 150mm, and 170mm, 190mm, 210mm, 250mm, a total of nine enabled working states.
completely leave the three-dimensional space where the protection area is located before the equipment starts to move. The default detection recovery delay is 2s, which can be adjusted between 0 and 60s. When set to 0, the output signal will switch to the barrier-free state immediately after the obstacle leaves the scanning section of the F31-C. It is recommended that the user add delay protection after receiving the barrier-free signal. Figure 3.3.
Figure 3.3.4 Data monitoring enable setting 3.3.4. Data reporting channel F31-C obstacle avoidance radar currently supports two connection methods, serial port and wireless. " is "serial transmission", when using Type-C to connect, you need to confirm that the "data reporting channel" is "Type-C transmission". 3.3.5. indicator Figure 3.3.5 Data monitoring enables setting F31-C obstacle avoidance radar currently supports 7 colors for the WORK indicator.
3.4. Area outline configuration F31-C provides the function of the one-click configuration of equipment outline parameters. Users only need to configure the first machine used in the current environment, and subsequent installation and replacement of new equipment can directly download the area outline settings to the new equipment through the configuration file. in the device.
.bin, and the file name format It is Intelly_F31_xxxxxxxxx, where x is a number, indicating date and time. Figure 3.4.3 Software upgrade file selection 3. After selecting the file and returning it, the program upgrade will start automatically. During the program upgrade process, the progress bar indicates the file transfer progress, and the program upgrade starts after the file transfer is completed. During the program upgrade process, you cannot power off and restart, and wait for the prompt.
Figure 3.4.5 Waiting time for program upgrade Figure 3.4.6 Program upgrade completed Note: Please do not power off before the prompt to power off and restart. If the program upgrade fails due to this operation, the device must be returned to 3.6. the factory to be repaired again.
Figure 3.5.1 Jump button in the area setting interfaces the "Area outline setting" interface 3.6.1. Area group signal selection onThe enabled working state of group automatic switching starts to detect the state within the contour range, which is controlled by the switch input signals IN1, IN2, IN3, and IN4, and can switch 16 kinds of area selection signals. The selection conditions are as follows.
Field Group 7 0 1 1 1 0 0 set 8 0Zone set 10 1 set 9 set 11 set 12 set 13 set 14 area group 15 area group 16 1 1 1 1 0 0 0 1 1 1Zone 1 1 1 1 3.6.2. detection sensitivity and response time 0 1 1Zone 0 1 0Zone 1 0Zone 0 0Zone 1 0 1 1 1Zone 1 0 1 The area detection response time represents the trigger time of the F31-C to the object within the entry area outline. The higher the set response time level, the longer the response time, the first level time is about 60ms.
Figure 3.5.3 Area outline setting interface 3.6.3. Area outline drawing Area outline setting interface can perform data monitoring and area outline setting at the same time, the current working area group is determined by four inputs, and a single area group can detect up to three different areas at the same time. To set a single area group, you need to set the "outermost" area, "middle layer" area, and "innermost layer" area.
Figure 3.5.4 Only displays the "current work area group" Figure 3.5.5 simultaneously displays the "current work area group" and "target work area group" The origin "O" on the coordinate axis represents the laser emission point. -45° represents the left boundary of the laser scanning range, that is, the negative half-axis of the X-axis. 225° represents the right boundary of the laser scanning range, that is, the positive half-axis of the X-axis.
Figure 3.5.6 Select the target area level After selecting the corresponding target area level, you can modify the outline of the selected work area group, such as a rectangular area, you can drag and drop vertices or stretch an edge horizontally or vertically. Figure 3.5.7 Rectangle outline modification It should be noted that the internal parameters of the radar equipment will not be changed when dragging and stretching here.
Figure 3.5.8 Longitudinal stretch edge "P3-P4" Figure 3.5.9 Right-click "Single Step Undo" to cancel the stretch operation. The outline drawing methods of the area include the following six, and the corresponding drawing modes are "Rectangle" and "Single Sector" , Overlapping Sectors, Sector Plot, Circle Plot, and Polygon Plot. The operation of completing the area outline is different in different drawing modes.
drawing mode of the selected area, you can drag the vertex pair identified by the circle in the coordinate system The outline of the graph can be modified. In the "Rectangle" mode, the outline of the rectangle can be stretched horizontally or vertically by clicking on the four sides of the rectangle.
d、 A a) Figure 3.5.10 "Single Sector" setting rule for outline drawing of rectangular area: single sector can be set to the sector area by dragging the sector vertices "P1" and "P2", and the vertex position cannot exceed the green range when dragging. b) Figure 3.5.11 For the outline drawing of a single sector area, you can directly input the coordinate positions of "P1" and "P2" in the "Graphic Coordinates" on the right to complete the drawing of the sector outline.
"P1'" and "P2'", the sector area cannot be closed, and the setting fails. e、 a) Figure 3.5.12 Abnormal coordinates of a single sector "overlapping sector" setting rule: Overlapping sectors are suitable for special detection areas. When setting, it is necessary to consider whether to set overlapping sectors according to the actual environment.
directly by the mouse, or the area outline can be set by inputting the b) coordinates. When setting the area outline in "Sector Drawing", within the allowable range, the first left-click determines the angle and radius of the left boundary of the sector, and the second left-click determines the right boundary of the sector. After the basic graphics are drawn, you can The sector outline is modified by dragging and clicking the position twice. Figure 3.5.
b) After the drawing is completed, you can modify the outline of the drawn circular area by dragging the mouse click position, and moving the position of the point will change the scanning range and diameter corresponding to the outline of the circular area. h、 a) Figure 3.5.
e) After the polygon area contour closed graph is drawn, a draggable circular logo is automatically generated at the corresponding vertex position, and the coordinates of each vertex of the polygon area contour f) can be modified by dragging the corresponding circular logo.
b、 of polygon drawing area outline setting Figure 3.5.19 "Last click" polygon area that has been drawn, taking the innermost layer as a polygonal area as an example, after clicking the innermost layer, the movable vertices of the corresponding area in the area outline are marked with circles. At this time, the position of the corresponding vertex can only be modified by dragging. For the dragging method, see item f) in h illustrate.
c、 Figure 3.5.21 Add the polygon area where the polygon drawing vertices have been drawn. If dragging and dropping can not meet your needs, select the point, right-click to select Modify coordinates, enter new coordinates, and click OK, that is The coordinates can be fine-tuned. d、 The outline of the area displayed after clicking "Innermost" can only be modified by dragging and adding vertices.
Redraw" button. g、 If other unmentioned conditions are not met, please make corrections according to the prompts.
4. Data monitoring shows the 4.1. system status and detection results. The laser equipment is initialized after power-on for about 15s and starts to enter the detection state. According to the parameters set by the user, it continuously detects whether there is an object in the target area. After the device is powered on, it will automatically start uploading laser cloud point data, regional detection results, and system working status.
the "current work area group" in the "target work area" on the right ” is automatically selected, the outline of the “current working area group” turns into a gray dotted line to display, and the multi-color solid line displays the outline information of the “target working area group”. Figure 4.1.1 Data monitoring display information Figure 4.1.
8、 using the operating device to start, make sure that the working power cord is connected to the switching power supply; ensure that the device window is clean. Power on the switching power supply, the device can start and work normally. Disconnect the switching power supply, the device can be turned off.
9、 Assembly requirements 1. Precautions ● ● The following points should be paid attention to when installing the ILS-F31-C safety laser sensor: Please pay attention to the up and down elevation angle and left and right declination angle after the sensor is installed. The deviation of the installation angle will cause the device to not work properly.
to incline more than 1.5° to prevent mutual interference. ● When two or more sensors are installed on the same plane and in the same direction, it is recommended to tilt more than 1.5° to prevent mutual interference. ● Due to the cone-shaped scattered emission of the sensor light spot, it is recommended that the laser obstacle sensor be installed at a height of ≥200mm from the ground. If the installation height is less than 200mm from the ground, it is recommended to tilt 1.5°.
10、 User Notice In the process of use, please use the laser equipment strictly in accordance with the technical parameters and specifications. The equipment will not work normally in the usage scenarios beyond the specified scope of the technical parameters. The equipment damage caused by the use environment of the equipment does not meet the technical parameters and specifications, and the user shall be responsible for the equipment.
