CognitiveTPG CPRR User manual
CPRR Industrial Radar
User Manual
2
The CPRR industrial radar is a high-resolution, shock-proof radar designed for industrial applications in
the transport sector (for trucks, buses, railway and mining machinery, trams, etc.).
CONTENTS
Introduction 3
1. General information 4
2. Features and technical data 5
Appearance and dimensions 5
Detailed technical specifications 6
Radar coverage 7
3. Delivery set 8
CPRR accessories 9
4. Connecting 10
Radar connectors used 10
Connector pin assignment 10
Connection via telnet 11
PuTTY 11
telnet 12
5. Getting started 13
Radar installation 13
Radar alignment 13
Switching on the radar 14
Operation modes 14
Manual data request mode 14
Streaming mode 14
Using radar with other equipment 15
6. Receiving data from radar 16
Communication protocol 16
Software Development Kit C++ 16
Using the SDK 17
Requirements and installation 18
Assembling examples 19
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Introduction
The following user manual is intended to be supplied in electronic form along with the CPRR Radar by the
product manufacturer.
Before use, familiarise yourself with the installation, wiring, adjustment and operation of the product.
This document describes the basic technical data and characteristics of the CPRR Radar, as well as its
capabilities and rules of use.
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1. General information
Product name
Industrial CPRR Radar
Family
Industrial Radar
Product designation
CPRR Radar
Product reference
464422.001-02
Company -
manufacturer
Cognitive Pilot
(Cognitive Robotics LLC.)
The Industrial CPRR Radar is a small 24 GHz radar sensor. The radar provides an overview of the space,
collects and pre-processes data on the presence of moving and stationary objects in the range of visibility.
The CPRR is designed to solve space surveillance and detection tasks for various categories of objects in
a wide range of angles in the fields of industrial safety and transport automation.
CPRR radar application
Transport automation
●Detecting obstacles as they arise in the
course of movement;
●Parking sensors;
●Lane keeping and lane change assist;
●Automation of transport;
●Speed control;
●Automatic emergency braking.
Industrial safety
●Detection of stationary and moving objects;
●Monitoring of hazardous areas of industrial
machinery to prevent incidents;
●Perimeter surveillance and notification of
unauthorised access;
●Classification of observed objects;
●Monitoring the presence of objects or
people in control zones
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2. Features and technical data
APPEARANCE AND DIMENSIONS
Figure 1 - CPRR (without mounting bracket) front, rear and side views
Figure 2 - Overall dimensions of the unit with mounting bracket (in mm)
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DETAILED TECHNICAL SPECIFICATIONS
Carrier frequency
24.150 GHz
Signal bandwidth
200 MHz
Emitted signal power, max.
10 dBm
Maximum range
250 м
Minimum range
0.5 м
Range resolution
2.5 м
Range estimation accuracy
≤ 0.2 m, up to 100 m, EPR 10 m2
Viewing sector azimuth
120°, up to 100 m, EPR 10 m2
90°, up to 250 m, EPR 10 m2
Azimuth resolution
4°, at ±10°
5°, at ±45°
8°, at ±60°
Accuracy of azimuthal coordinate estimation
±0.7°, at ±10°
±0.9°, at ±45°
±1.2°, at ±60°
Angle estimation accuracy
1°
Viewing sector by angle of location
10°
Frequency of information update
15 fps
Speed resolution
2.5 km/h
Measurable speed range
±220 km/h
Accuracy of speed estimation
±0.4 km/h
Data interface, power interface (M12 socket, IP67)
Ethernet (PoE)
Power consumption
15W
Rated PoE power supply voltage
48 В
Degree of protection
IP67
Operating temperature range
-45 ... +85 ºC
Dimensions
177 x 54 x 192 mm
Weight, not more than
2 kg
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RADAR COVERAGE
Figure 3 - Radar visibility projections (side and top views)
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3. Delivery set
The CPRR Industrial Radar is supplied in the following configuration:
●CPRR radar;
●Mounting bracket with alignment bracket;
●Ethernet cable M12/RJ45, 5m;
●Product passport.
Figure 4 – Delivery Package for Industrial Radar CPRR24.L
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CPRR ACCESSORIES
Description
Dimensioned drawing
Mounting
bracket with
alignment
bracket
Rectangular mounting bracket with
adjustable sensor angle up to 10°
Steel sheet, 2mm
Black colour
Coating - powder coat paint
Thread D65
M12-RJ45 cable
for radar
connection
Connector type (1) - RJ45
Connector type (2) - M12
Ethernet cable (3), protected by car
corrugator ∅6.8 mm (4)
Cable length - 5m
Colour black
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4. Connecting
Radar is powered according to the IEEE 802.3at standard; the use of routers or injectors that support this
standard is recommended.
RADAR CONNECTORS USED
Connector type
Description
Location
Connector M12
PXMBNI12RPF08APCPG9
Manufacturer: Bulgin
A Coded, Poles 8
Radar
(housing)
Plug M12
T4113012081-000
Manufacturer: TE Internal
A Coded, Poles 8
Cable
RJ45 plug
8P8C-SH-C6+ -TWP
Manufacturer: Cabeus
Category 6/7
Cable
CONNECTOR PIN ASSIGNMENT
The plug T4113012081-000 is used to connect to the sensor.
The socket contacts are shown in the illustrations and described in the table below.
RJ45 plug
Plug M12
CPRR plug connectors
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Contact
number
Destination
Wire colour
1
TxRx A+
White and orange
2
TxRx A-
Orange
3
TxRx B+
White and green
4
TxRx C+ DC+
Blue
5
TxRx C- DC+
White and blue
6
TxRx B-
Green
7
TxRx D+ DC-
White-brown
8
TxRx D- DC-
Brown
CONNECTION VIA TELNET
The CPRR is capable of controlling communication over the telnet application protocol.
To implement such interaction, it is proposed to use the PuTTY telnet client or the telnet network utility
(working in linux OS)
PuTTY
Figure 5 - Example configuration
telnet client using PuTTY software
The telnet client must be configured
according to the suggested example (Figure
5) in order to perform the exchange.
Once contact has been made with the CPRR
radar, the user is taken to the main menu
where commands are available. A list of
available commands and their descriptions
are available by pressing the "Tab" key.
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telnet
Figure 6 - Configuration example
telnet, setting the desired end-of-line format
When using telnet to exchange with the
CPRR radar, it is required to set the line end
format <CR> <LF>.
To do this, enter the telnet menu by pressing
Ctrl + ] and enter the command: set crlf, as
shown in the figure.
Configuring the IP address of the radar
To change the IP address of the radar, enter the following commands:
config ip 192.168.1.4
save
Note: the change of the IP address will occur only after the radar reboot.
An example of changing the IP address is shown in the figure below:
Figure 7 - Example of configuring the IP address of the radar
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5. Getting started
Before using the radar, it is advisable to carry out an external inspection for defects: check the integrity and
cleanliness of the outer part of the connector and that the casing and the radio window are free of dents,
cracks, chips and other mechanical damages.
Before the product is switched on for the first time, it must be installed and adjusted.
RADAR INSTALLATION
For operation, the radar sensor must be properly installed:
1. Fasten the radar to the installation site;
2. Carry out radar alignment;
3. Connect the radar using a cable.
Keep in mind when installing the radar:
●The sensor must be securely fixed to the chosen mounting location to prevent unintentional
movement during operation, for this purpose we recommend using the standard bracket1with the
possibility of adjusting the sensor's angle of inclination.
●Dirt, splashes and snow should be avoided or minimised and the radar window should not be
exposed to ice.
●It is important to ensure that the mountings and structural parts of the object to be installed are not
within the radar's field of view.
●Ensure the radar is positioned correctly as the sensor is sensitive to spatial orientation.
RADAR ALIGNMENT
In order to carry out a correct alignment, it is necessary to:
1. Position the product correctly in accordance with figure 8;
2. Ensure that the area of interest is positioned on the line of sight as shown in figure 9.
Once the alignment procedure is complete, tighten the fixing screws and the unit is ready for use.
1The use of a third-party bracket is permitted, but the manufacturer cannot be held responsible for the quality of the
mounting of the radar on such a bracket.
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Figure 8 - Correct radar location
Figure 9 - CPRR visibility in the vertical plane
SWITCHING ON THE RADAR
Before switching on the radar, ensure that the standard cable is securely plugged into the socket and
connected to the unit with the PoE port.
After power-up, the product takes no more than 10 seconds to initialise and then activates the ambient
data mode.
OPERATION MODES
The radar has 2 modes of operation:
●Manual surrounding data query mode;
●Streaming mode for transmitting data on surrounding objects.
The product's operating modes are changed by transmitting commands in accordance with the
communication protocol.
Manual data request mode 2
In manual surrounding data request mode, the radar does not emit a high-frequency signal, nor does it
transmit data about objects in the line of sight.
In this operating mode, the sensor is waiting for a command to switch on the radiation.
Streaming mode
In streaming mode, the radar transmits a high-frequency signal into space according to the antenna
pattern of the product.
In this mode, the product transmits information on the presence and characteristics of objects detected by
the product within its field of view.
2This mode of operation is implemented in situation where, for whatever reason, it is necessary to stop the emission
of a high-frequency signal.
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USING RADAR WITH OTHER EQUIPMENT
This product can be used in combination with other products and sensors (lidars, cameras, ultrasonic
sensors, etc.).
The Ethernet interface and the UDP transport protocol are used for connection with other products.
CPRR can be connected to such a system via PoE-switch or industrial computer. This architecture makes
connecting a CPRR radar a task that does not require extra effort and additional adapters or converters -
most standard industrial computers have 4 or more Ethernet ports with PoE support, which provides
seamless integration.
Figure 10 - Options for connecting the CPRR radar
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6. Receiving data from radar
For information exchange with the radar, the Ethernet interface is implemented on the data link layer and
the UDP protocol on the network layer, with the radar acting as a server.
COMMUNICATION PROTOCOL
Information exchange is realised by the serial exchange of configuration data packets and control
commands from the client and detected object information packets from the radar.
To access the document detailing the radar communication protocol, scan the QR code or
follow the link
🔗
Communication protocol CPRR
SOFTWARE DEVELOPMENT KIT C++
For ease of use and customisation of radar functions, Cognitive Pilot provides an SDK - key development
tools for the software component, as well as documentation to simplify application development and
operation of the CPRR Radar.
Supported platforms
Programming language
С++11
Access to the SDK
To access the Radar CPRR SDK,
scan the QR code
or follow the link
🔗
GitLab Cognitive Pilot -
Radar CPRR SDK
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Using the SDK
The CPRR Radar SDK makes it easy to integrate sensor data into your applications with just a few lines of
code.
The main object in the SDK is the TCogRadarX factory class.
The current version of the SDK provides for the creation of two types of objects:
●"cprr" - working with real radar;
●"demo" - working with a radar emulator producing a fixed number of targets evenly distributed around
a circle.
The SDK scheme is the same for both examples:
Figure 11 - SDK usage diagram
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2 use cases are presented in the SDK:
An example of radar operation as a console
application.
demos/cprr/minimal.cpp
The result of the example work:
THE CONNECTION...
RADAR OK!
Version Hardware: 0.1
Version Software: 0.9
SN : 12345
RADAR START
FRAME:00001 [52.3, 34.8] ...
...
FRAME:00046 [10.7, -18.3] ...
RADAR STOP
RADAR CLOSE
DONE
An example of integration into a GUI application.
Sciter
is used as the GUI engine.
demos/gui.minimal/cprr/uminimal.cpp
The result of the uminimal example:
Figure 12 - Result of the SDK GUI example
(fixed number of targets evenly spaced around the circle) )
Requirements and installation
The SDK is implemented as C++ header files and requires no additional software installation. To use the
SDK, download the project archive from the CPRR Radar SDK page at gitlab.com and unzip the archive.
Make sure you have the following file structure:
bin/
- radar emulator and compiled examples (cprr mode)
demos/.
- examples of use
doc/
- documentation
include/
- SDK source code (C++)
CHANGELOG
- list of changes
README.md
- text file with SDK information
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Visual Studio (Community) is required to compile the examples for Windows.
Only the example minimal is available for building on Linux.
Assembling examples
Build a minimal example under Linux (cygwin):
cd demos/cprr
make
Build an example Uminimal for Windows:
1. Start Visual Studio;
2. Open the solution file .\demos\gui.minimal\cprr\build\uminimal.sln;
3. Choose menu: build →rebuild solution.
the directory .\demos\gui.minimal\cprr\bin should contain the following files:
sciter.dll
- DLL Sciter Engine
uminimal.cfg
- Radar IP and port configuration
uminimal.exe
- compiled file
The configuration file uminimal.cfg / minimal.cfg contains fields: IP, PORT, PORT_LOCAL and DEMO.
●IP - radar IP address
●PORT - UDP port of the radar to which requests are sent
●PORT_LOCAL is the program's own UDP port from which requests come and where the radar data
comes from;
●DEMO -DEMO mode (non-radar operation). "ON" - activates demo mode, "OFF" - radar operation.
Example of a Uminimal.cfg / minimal.cfg file:
IP=192.168.1.4
PORT=7000
PORT_LOCAL=7001
DEMO=OFF
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Viewing detections from the radar using the demo application
To access a video tutorial demonstrating the process of connecting the CPRR radar and
viewing detections using the demo application, scan the QR code or follow the link.
🔗
Video tutorial of connecting the CPRR radar
To view the detections detected by the radar using
the uminimal example:
1. Connect the radar using PoE switch to a PC
with the assembled uminimal example from
sdk and run the program with demo display;
2. Make sure that the program has detected
the connected radar by opening the menu
of detected devices using the button in the
upper left corner of the window or by
yourself select the required sensor from the
list in the menu;
3. Wait until the sensor is connected and
detected by the program
(when the sensor is connected, information
about the serial number of the product - SN
appears at the top of the screen)
4. In the window that appears after the sensor
is successfully connected, the detections of
objects detected by the radar will be
displayed, located in the working area of the
program in accordance with their physical
distance from the sensor.
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Table of contents
