SICK LMS1104C-111031S01 User manual

OPERATING INSTRUCTIONS
LMS1104C-111031S01
2D LiDAR sensors

Described product
LMS1104C-111031S01
Manufacturer
SICK AG
Erwin-Sick-Str. 1
79183 Waldkirch
Germany
Legal information
This work is protected by copyright. Any rights derived from the copyright shall be
reserved for SICK AG. Reproduction of this document or parts of this document is
only permissible within the limits of the legal determination of Copyright Law. Any modi‐
fication, abridgment or translation of this document is prohibited without the express
written permission of SICK AG.
The trademarks stated in this document are the property of their respective owner.
© SICK AG. All rights reserved.
Original document
This document is an original document of SICK AG.
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Subject to change without notice

Contents
1 About this document........................................................................ 5
1.1 Information on the operating instructions.............................................. 5
1.2 Explanation of symbols............................................................................ 5
1.3 Information on the operating instructions.............................................. 6
1.4 Further information................................................................................... 6
2 Safety information............................................................................ 7
2.1 Intended use............................................................................................. 7
2.2 Improper use............................................................................................. 7
2.3 Internet protocol (IP) technology.............................................................. 7
2.4 Limitation of liability................................................................................. 8
2.5 Modifications and conversions................................................................ 8
2.6 Requirements for skilled persons and operating personnel.................. 8
2.7 Operational safety and particular hazards.............................................. 9
3 Product description........................................................................... 10
3.1 Scope of delivery....................................................................................... 10
3.2 Status indicators....................................................................................... 10
3.3 Type label.................................................................................................. 11
3.4 Principle of operation............................................................................... 11
3.4.1 Measurement principle........................................................... 11
3.4.2 Range finding........................................................................... 12
3.4.3 Direction measurement.......................................................... 12
3.4.4 Impact of object surfaces on the measurement................... 13
3.4.5 Scanning range........................................................................ 14
3.4.6 Object sizes.............................................................................. 16
3.4.7 Multi-echo analysis.................................................................. 17
3.4.8 Filter.......................................................................................... 18
3.4.9 Scan data output..................................................................... 21
3.4.10 Interlaced mode....................................................................... 22
3.4.11 RSSI values.............................................................................. 24
3.4.12 Contamination indication........................................................ 24
3.4.13 Calculation of the field size for mobile applications.............. 25
4 Transport and storage....................................................................... 28
4.1 Transport................................................................................................... 28
4.2 Unpacking.................................................................................................. 28
4.3 Transport inspection................................................................................. 28
4.4 Storage...................................................................................................... 28
5 Mounting............................................................................................. 30
5.1 Mounting instructions............................................................................... 30
5.2 Mounting device....................................................................................... 30
5.3 Mounting multiple devices....................................................................... 30
CONTENTS
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6 Electrical installation........................................................................ 32
6.1 Wiring instructions.................................................................................... 32
6.2 Prerequisites for safe operation of the device........................................ 33
6.3 Connection diagram................................................................................. 35
6.4 Connection options................................................................................... 37
6.5 Connecting the device electrically........................................................... 38
7 Operation............................................................................................ 39
7.1 Operation with SOPAS ET......................................................................... 39
7.2 Operation with teach-in............................................................................ 44
8 Maintenance...................................................................................... 45
8.1 Maintenance plan..................................................................................... 45
8.2 Cleaning..................................................................................................... 45
9 Troubleshooting................................................................................. 46
9.1 General faults, warnings, and errors....................................................... 46
9.2 Repairs...................................................................................................... 46
9.3 Returns...................................................................................................... 46
9.4 Disposal..................................................................................................... 46
10 Technical data.................................................................................... 47
10.1 Features.................................................................................................... 47
10.2 Mechanics/electronics............................................................................. 48
10.3 Dimensional drawing................................................................................ 49
10.4 Performance............................................................................................. 50
10.5 Interfaces.................................................................................................. 50
10.6 Ambient data............................................................................................. 50
11 Accessories........................................................................................ 51
12 Annex.................................................................................................. 52
12.1 EU declaration of conformity/Certificates............................................... 52
12.2 Cybersecurity............................................................................................ 52
12.3 Licenses.................................................................................................... 52
12.4 Configuration without computer.............................................................. 52
12.4.1 Field evaluation........................................................................ 52
12.5 Configuration with computer.................................................................... 53
12.5.1 Output of measured values via terminal program................. 53
12.5.2 Measured value display and configuration via start window 55
12.5.3 Field evaluation........................................................................ 56
12.5.4 Configuring interfaces............................................................. 56
12.5.5 Some useful functions............................................................. 57
12.5.6 Configuring the device............................................................. 57
CONTENTS
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1 About this document
1.1 Information on the operating instructions
These operating instructions provide important information on how to use devices from
SICK AG.
Prerequisites for safe work are:
•Compliance with all safety notes and handling instructions supplied.
•Compliance with local work safety regulations and general safety regulations for
device applications
The operating instructions are intended to be used by qualified personnel and electrical
specialists.
NOTE
Read these operating instructions carefully to familiarize yourself with the device and its
functions before commencing any work.
The operating instructions are an integral part of the product. Store the instructions
in the immediate vicinity of the device so they remain accessible to staff at all times.
Should the device be passed on to a third party, these operating instructions should be
handed over with it.
These operating instructions do not provide information on operating the machine or
system in which the device is integrated. Information on this can be found in the
operating instructions for the machine or system.
1.2 Explanation of symbols
Warnings and important information in this document are labeled with symbols. Sig‐
nal words introduce the instructions and indicate the extent of the hazard. To avoid
accidents, damage, and personal injury, always comply with the instructions and act
carefully.
DANGER
… indicates a situation of imminent danger, which will lead to a fatality or serious
injuries if not prevented.
WARNING
… indicates a potentially dangerous situation, which may lead to a fatality or serious
injuries if not prevented.
CAUTION
… indicates a potentially dangerous situation, which may lead to minor/slight injuries if
not prevented.
NOTICE
… indicates a potentially harmful situation, which may lead to material damage if not
prevented.
NOTE
… highlights useful tips and recommendations as well as information for efficient and
trouble-free operation.
ABOUT THIS DOCUMENT 1
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1.3 Information on the operating instructions
These operating instructions provide important information on how to use devices from
SICK AG.
Prerequisites for safe work are:
•Compliance with all safety notes and handling instructions supplied.
•Compliance with local work safety regulations and general safety regulations for
device applications
The operating instructions are intended to be used by qualified personnel and electrical
specialists.
NOTE
Read these operating instructions carefully to familiarize yourself with the device and its
functions before commencing any work.
The operating instructions are an integral part of the product. Store the instructions
in the immediate vicinity of the device so they remain accessible to staff at all times.
Should the device be passed on to a third party, these operating instructions should be
handed over with it.
These operating instructions do not provide information on operating the machine or
system in which the device is integrated. Information on this can be found in the
operating instructions for the machine or system.
1.4 Further information
NOTE
Further documentation for the device can be found on the online product page at:
•www.sick.com/LMS1000
Additional information is available there, depending on the product, e.g.:
•Model-specific online data sheets for device types, containing technical data,
dimensional drawing, and specification diagrams
•EU declaration of conformity and certificates of the product family
•Dimensional drawings and 3D CAD dimension models of the device types in
various electronic formats
•Other publications related to the devices described here
•Publications dealing with accessories
1 ABOUT THIS DOCUMENT
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2 Safety information
2.1 Intended use
The LMS1000 2D LiDAR sensor features 1 scan plane and is designed for the follow‐
ing applications:
•Detection of objects during continuous output of measurement data as required.
•Field monitoring of freely defined areas with signaling of object detection via digital
outputs.
It is suitable for applications which demand precise, non-contact optical measuring
contours and dimensioning.
Typical areas of application are e.g. profile detection in traffic monitoring, access moni‐
toring, pass-through monitoring.
SICK AG assumes no liability for losses or damage arising from the use of the product,
either directly or indirectly. This applies in particular to use of the product that does not
conform to its intended purpose and is not described in this documentation.
2.2 Improper use
Any use outside of the stated areas, in particular use outside of the technical specifica‐
tions and the requirements for intended use, will be deemed to be incorrect use.
•The device does not constitute a safety component in accordance with the respec‐
tive applicable safety standards for machines.
•The device must not be used in explosion-hazardous areas, in corrosive environ‐
ments or under extreme environmental conditions.
•Any use of accessories not specifically approved by SICK AG is at your own risk.
WARNING
Danger due to improper use!
Any improper use can result in dangerous situations.
Therefore, observe the following information:
■Product should be used only in accordance with its intended use.
■All information in these operating instructions must be strictly observed.
■Shut down the product immediately in case of damage.
2.3 Internet protocol (IP) technology
NOTE
SICK uses standard IP technology in its products. The emphasis is placed on availability
of products and services.
SICK always assumes the following prerequisites:
•The customer ensures the integrity and confidentiality of the data and rights
affected by its own use of the aforementioned products.
•In all cases, the customer implements the appropriate security measures, such as
network separation, firewalls, virus protection, and patch management.
SAFETY INFORMATION 2
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2.4 Limitation of liability
Relevant standards and regulations, the latest technological developments, and our
many years of knowledge and experience have all been taken into account when
compiling the data and information contained in these operating instructions. The
manufacturer accepts no liability for damage caused by:
■Non-adherence to the product documentation (e.g., operating instructions)
■Incorrect use
■Use of untrained staff
■Unauthorized conversions or repair
■Technical modifications
■Use of unauthorized spare parts, consumables, and accessories
With special variants, where optional extras have been ordered, or owing to the latest
technical changes, the actual scope of delivery may vary from the features and illustra‐
tions shown here.
2.5 Modifications and conversions
NOTICE
Modifications and conversions to the device may result in unforeseeable dangers.
Interrupting or modifying the device or SICK software will invalidate any warranty claims
against SICK AG. This applies in particular to opening the housing, even as part of
mounting and electrical installation.
2.6 Requirements for skilled persons and operating personnel
WARNING
Risk of injury due to insufficient training.
Improper handling of the device may result in considerable personal injury and material
damage.
■All work must only ever be carried out by the stipulated persons.
This product documentation refers to the following qualification requirements for the
various activities associated with the device:
■Instructed personnel have been briefed by the operator about the tasks assigned
to them and about potential dangers arising from improper action.
■Skilled personnel have the specialist training, skills, and experience, as well as
knowledge of the relevant regulations, to be able to perform tasks delegated to
them and to detect and avoid any potential dangers independently.
■Electricians have the specialist training, skills, and experience, as well as knowl‐
edge of the relevant standards and provisions, to be able to carry out work on
electrical systems and to detect and avoid any potential dangers independently.
The electrician must comply with the provisions of the locally applicable work
safety regulation.
The following qualifications are required for various activities:
Table 1: Activities and technical requirements
Activities Qualification
Mounting, maintenance ■Basic practical technical training
■Knowledge of the current safety regulations in the workplace
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Activities Qualification
Electrical installation,
device replacement
■Practical electrical training
■Knowledge of current electrical safety regulations
■Knowledge of the operation and control of the devices in their
particular application
Commissioning, configura‐
tion
■Basic knowledge of the computer operating system used
■Basic knowledge of the design and setup of the described
connections and interfaces
■Basic knowledge of data transmission
Operation of the device for
the particular application
■Knowledge of the operation and control of the devices in their
particular application
■Knowledge of the software and hardware environment for the
particular application
2.7 Operational safety and particular hazards
Please observe the safety notes and the warnings listed here and in other chapters
of this product documentation to reduce the possibility of risks to health and avoid
dangerous situations.
CAUTION
Optical radiation: Laser class 1
The accessible radiation does not pose a danger when viewed directly for up to 100
seconds. It may pose a danger to the eyes and skin in the event of incorrect use.
■Do not open the housing. Opening the housing may increase the level of risk.
■Current national regulations regarding laser protection must be observed.
Caution – Use of controls or adjustments or performance of procedures other than
those specified herein may result in hazardous radiation exposure.
WARNING
Electrical voltage!
Electrical voltage can cause severe injury or death.
■Work on electrical systems must only be performed by qualified electricians.
■The power supply must be disconnected when attaching and detaching electrical
connections.
■The product must only be connected to a voltage supply as set out in the require‐
ments in the operating instructions.
■National and regional regulations must be complied with.
■Safety requirements relating to work on electrical systems must be complied with.
WARNING
Risk of injury and damage caused by potential equalization currents!
Improper grounding can lead to dangerous equipotential bonding currents, which may
in turn lead to dangerous voltages on metallic surfaces, such as the housing. Electrical
voltage can cause severe injury or death.
■Work on electrical systems must only be performed by qualified electricians.
■Follow the notes in the operating instructions.
■Install the grounding for the product and the system in accordance with national
and regional regulations.
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3 Product description
3.1 Scope of delivery
The delivery of the device includes the following components:
Table 2: Scope of delivery
Item Component Comment
1 Device in the version ordered Depending on version
Without connecting cables and brackets
1 Set of protective caps for electri‐
cal connections
Attached to the connections
1 Printed safety notes, multilin‐
gual
Brief information and general safety notes
1 Printed Quickstarts, number of
language versions dependent
on country
All available language versions of the Quick‐
starts can also be found online as PDFs at:
www.sick.com/LMS1000
3.2 Status indicators
2
1
Figure 1: Status indicators
1LED1
2LED2
LED1 (color) LED2 (color) Description
O (Red) O (Red) Start-up, parameterization, firmware
update, correctable error
- - Off
O (Green) O (Yellow) Field breached
O (Green) O (Green) Field free
Ö (Red) Ö (Red) Fatal error
O (Green) O (Green) On / Ready for operation
Ö (Green) Ö (Green) Standby
Ö (Green) Ö (Green) Save energy
O (Green) Ö (Yellow) Restart after time; input
Ö (Yellow) O (Green) Contamination warning
Ö (Yellow) Ö (Red) Contamination error
Ö (Yellow) Ö (Yellow) EasyTeach / teach-in
O (Green) O (Yellow) O
(Red)
O (Green) O (Yellow) O
(Red)
Identifying the device
O = illuminated; Ö = flashing
1. Alternating
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3.3 Type label
The type label gives information for identification of the device.
ETH I/O PWR
LMS1104C-111031S01
www.sick.com/1092445
Ident No.:
1092445
Serial No.:
13098912
DC 10-30V
Ptyp 13W max. 42W
Temp.: -30°C … +50°C IP65/67
MAC: 00:06:77:06:05:5E
Manufactured:
May 2016
MADE IN GERMANY
DO NOT REMOVE SICK AG
D-79276 Waldkirch
25
á
ß
9
12
6 4
3
87 5
Figure 2: LMS1000 type label (example)
1Voltage supply, typical power, max. power, operating temperature, enclosure rating
2MAC address
3Conformity mark/certification mark, symbol: Observe the operating instructions!
4Manufacturer
5Production location, note: Do not remove type label
6Production date
7Part number
8Serial number
9Data Matrix code with product data and link to product page
ßWeb address of product page
àType code
áLabeling of connections
3.4 Principle of operation
3.4.1 Measurement principle
The device is an opto-electronic LiDAR sensor that scans the outline of its surround‐
ings with the help of laser beams without making contact. The device measures its
surroundings in two-dimensional polar coordinates, relative to its measurement origin.
This is marked by a circular indentation in the center of the optics cover. If a laser beam
strikes an object, the position of that object is determined in terms of distance and
angle.
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Figure 3: LiDAR sensor with one scan plane
3.4.2 Range finding
The device emits beams pulsed by a laser diode. If the laser beam is reflected by an
object, the reflected beam is received by the sensor.
The distance to the object is calculated on the basis of the time that the pulsed light
beam requires to be reflected and received by the sensor.
t
1 2
1Send pulse
2Receive pulse
The device uses SICK’s own HDDM+ (High Definition Distance Measurement plus)
technology. With this measurement process, a measured value is formed statistical
evaluation of multiple single pulses. The multi-pulse feature of HDDM+ evaluates up
to 165,000 echoes per second with every scan. Every single HDDM+ measured value
output therefore provides even more information because it is not just composed of
a single time-of-flight measurement, but includes evaluated information from numer‐
ous pulses. In this process, the digitized echoes are compiled into data packages
which overlap during evaluation. This guarantees a significantly more stable time and
distance measurement.
3.4.3 Direction measurement
The laser beams are emitted using internally rotating sender-receiver units (SRUs) and
scan the surroundings orbitally. The received measured values are assigned to the
associated angular cut and thus to the direction.
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3.4.4 Impact of object surfaces on the measurement
The received signal from a perfectly diffuse reflection from a white surface (diffuse
Lambertian reflector) corresponds to a remission of 100%. By this definition, surfaces
that reflect the light in bundles (specular surfaces, reflectors) have remissions of over
100%.
Reflection
Most surfaces produce a diffuse reflection of the laser beam in all directions. The
structure (smooth or rough), shape (flat or curved), and color (light or dark) of the
surface determine how well the laser beam is reflected.
On very rough surfaces, a large proportion of the energy is lost due to absorption.
Curved surfaces produce a higher diffusion. Dark surfaces reflect the laser beam worse
than light ones (brilliant white plaster reflects approx. 100% of the light, while black
foam rubber reflects approx. 2.4%). The aforementioned surface characteristics can
reduce the scanning range of the device, in particular for surfaces with low remission
values.
Figure 4: Reflection of light on the surface of the object
Angle of reflection
The angle of reflection corresponds to the angle of incidence. If the laser beam hits
a surface at right angles, the energy is optimally reflected. If the laser beam hits a
surface at an oblique angle, energy and range are lost accordingly.
Figure 5: Angle of reflection
Retroreflection
If the reflective energy is greater than 100%, the beam is not reflected diffusely in all
directions; instead it is reflected in a targeted way (retroreflection). Thus a large part of
the emitted energy can be received by the laser distance measurer. Plastic reflectors
(cat’s eyes), reflective tape, and triple prisms have these properties.
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Figure 6: Retroreflection
Reflective surfaces
The laser beam is almost completely deflected on reflective surfaces. This means that
an object hit by the deflected beam may be detected instead of the reflective surface.
Figure 7: Specular surfaces
Small objects
Objects that are smaller than the diameter of the laser beam cannot reflect the laser
light’s full energy. The portion of the light beam that does not reach the object is lost. If
all of the light reflected to the sensor is insufficient, the object may not be detected.
The portion of the light that does not reach the front object can be reflected by a larger
object in the background. If all of the light reflected to the sensor is sufficient, this
object is detected. This can lead to a corruption of the measured value.
Figure 8: Object smaller than the laser beam diameter
3.4.5 Scanning range
The scanning range of the device depends on the remission of the object to be
detected. The better a surface reflects the incident beam back to the device, the
greater the scanning range of the device.
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a: 10 klx b: 40 klx c: 80 klx
0
10
20
30
50
60
40
Object remission in %
Measuring range in m (ft)
0 20
(65.6)
70
90
100
80 abc
10
(32.8)
30
(98.4)
50
(164.0)
40
(131.2)
60
(196.9)
Figure 9: Scanning range as a function of object remission for various ambient light influences
(no filter activated; no influence from fog, rain or dust)
a: 10 klx b: 40 klx c: 80 klx
Statistical error in mm (in)
0
0 40
(131.2)
50
(164.1)
60
(196.9)
5
(0.20)
10
(0.39)
15
(0.59)
20
(0.79)
Object distance in m (ft)
20
(65.6)
10
(32.8)
30
(98.4)
cba
Figure 10: Statistical error for white objects as a function of object distance for various ambient
light influences
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a: 10 klx b: 40 klx c: 80 klx
Statistical error in mm (in)
0
0 5
(16.4)
15
(49.2)
20
(65.6)
25
(82.0)
5
(0.20)
10
(0.39)
15
(0.59)
20
(0.79)
Object distance in m (ft)
10
(32.8)
30
(98.4)
cb a
Figure 11: Statistical error for black objects as a function of object distance for various ambient
light influences
3.4.6 Object sizes
As the distance from the device increases, the laser beam expands. As a result, the
diameter of the light spot on the surface of the object increases.
1
2
Figure 12: Beam expansion
1Expanded laser beam
2Optical axis
Values required to calculate the light spot size:
•Light spot size on the device cover: 7 mm (rounded up)
•Divergence of 1 light spot: 0.59 deg (10.4 mrad)
•HDDM+ supplement (1 spot comprises several superimposed individual pulses):
1.50 deg (26.2 mrad)
Formula for calculating the light spot width:
(Light spot divergence [mrad] + HDDM+ supplement [mrad]) x distance [mm] + light
spot size on the device cover [mm] = light spot width [mm]
Example calculation of the light spot width at a distance of 16 m (16,000 mm):
(10.4 mrad + 26.2 mrad) * 16,000 mm + 7 mm = 592.6 mm
Formula for calculating the height of the light spot:
Light spot divergence [mrad] x Distance [mm] + Light spot height at the n device cover
[mm] = Light spot width [mm]
Example calculation of the light spot height at a distance of 16 m (1,600 mm):
10.4 mrad * 16,000 mm + 7 mm = 173.4 mm
Formula for calculating the minimum object size:
(Light spot divergence [mrad] + angular resolution [mrad]) x distance [mm] + light spot
height on the device cover [mm] = minimum object size [mm]
Example calculation of the minimum object size at a distance of 16 m (16,000 mm):
Angular resolution: 0.75° -> 13.1 mrad
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(10.4 + 26.2 + 13.1 mrad) * 16,000 mm + 7 mm = 802 mm
Minimum object size in mm (inch)
0
10
(32.8)
40
(131.2)
50
(164.1)
20
(65.6)
Distance in m (ft)
5000
(196.9)
0
1000
(39.4)
3000
(118.1)
4000
(157.4)
30
(98.4)
60
(106.9)
70
(229.7)
2000
(78.7)
1
2
3
4
5
Figure 13: Minimum object size as a function of distance
1Minimum object size in mm (inches)
2Distance in m (ft)
3Minimum object size
4Minimum object size (2-fold interlaced mode)
5Minimum object size (4-fold interlaced mode)
NOTE
For reliable measurement, in particular when using the device to output measured
values, the laser needs to hit the object several times. Therefore, the object either
needs to be larger than the minimum object size, or both the LiDAR sensor and the
object must not be moving.
3.4.7 Multi-echo analysis
The distance between the device and an object is calculated via the time-of-flight of the
emitted pulse. The device can evaluate up to three echo signals for each measuring
beam to deliver reliable measurement results, even under adverse ambient conditions.
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Figure 14: Multi-echo analysis: example industrial application for ports, cranes, and traffic.
1Fog
2Rain
3Measuring object
Figure 15: Multi-echo analysis: example industrial application for building management.
1Fog
2Snow
3Measuring object
3.4.8 Filter
By using digital filters to pre-process and optimize the measured distance values, the
device can be tailored to the specific requirements of the respective application. This
makes it possible to prevent virtually all faults.
You can arbitrarily combine the filters. If several filters are active, then the filters are
applied sequentially to the results of the preceding filter. Processing occurs in the
following sequence: echo filter, particle filter, median filter, ground reference evaluation,
mean filter. It should be noted, however, that the measurement data output may be
delayed due to the multiple calculation steps.
For many applications, it is useful to use a combination of the median filter and
the mean filter. The median filter can eliminate the larger outliers, which “smooths”
the scan line. The values calculated by the median filter are then averaged over a
configurable number of scans by the mean filter.
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The active filter functions affect the outputted measured values. It is not possible to
recalculate the original measured values from the filtered output values.
3.4.8.1 Fog filter
The fog filter enables the device to eliminate unwanted echoes at close range. This
considerably lowers the probability of false activations at close range in fog.
Figure 16: Without the fog filter: objects are
difficult to detect through the fog due to reflec‐
tions.
Figure 17: Using the fog filter: objects can be
detected reliably because unwanted echoes
are screened out.
3.4.8.2 Echo filter
The echo filter screens out unwanted measurement data and signals caused by edge
hits, rain, dust, snow and other ambient conditions.
You can set whether the first, the last, or all three echoes are output.
The other pulses triggered by undesirable ambient conditions are not taken into
account.
Echo 1
Echo 2
Figure 18: Without the echo filter: The device
receives unwanted echoes from ambient con‐
ditions such as rain.
Echo 1
Echo 2
Figure 19: Using the echo filter (setting: last
echo): the device screens out unwanted ech‐
oes from ambient conditions as per the set‐
tings chosen.
3.4.8.3 Particle filter
The particle filter blanks small, irrelevant reflection pulses in dusty environments and
in rain or snow which are caused by dust particles, raindrops, snowflakes or the like. In
doing so, successive scans are continuously evaluated in order to detect static objects.
PRODUCT DESCRIPTION 3
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Subject to change without notice

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Figure 20: Without the particle filter: Violation
of the contour due to dust particles in the
vicinity of the object.
"
Figure 21: Using the particle filter: The
response to dust particles in the field is
delayed by one scan. Particles can thereby be
blanked.
3.4.8.4 Median filter
This filter is suitable for excluding individual outliers from the calculation of an average
value.
The moving median filter sorts the measured values according to their size and selects
the middle value from this sequence. The values taken into consideration are defined
by a matrix, the size of which is configurable.
A 3 x 3 matrix, for example, takes into consideration 9 measured values consisting of
the distance values of a point and its two neighboring points, along with the distances
values of these points determined from the preceding and following scan. The fifth
largest measured value is outputted as the distance value.
Table 3: Example: Median for scan 2 and angle 3 (3 x 3 matrix: scan 1 to 3, angle 2 to 4)
Angle (distance values)
Scan 1 2 3 4 5 …
100 850 1100 1150 …
200 950 1200 1250 …
300 850 1150 1200 …
…… … … … … …
Median calculation: 0 (lowest value) | 0 | 0 | 850 | 850 (median) | 950 | 1,100 |
1,150 | 1,200 (highest value)
Table 4: Example: Median for scan 2 and angle 4 (3 x 3 matrix: scan 1 to 3, angle 3 to 5)
Angle (distance values)
Scan 1 2 3 4 5 …
10 0 850 1100 1150 …
20 0 950 1200 1250 …
30 0 850 1150 1200 …
…… … … … … …
Median calculation: 850 (lowest value) | 850 | 950 | 1,100 | 1150 (median) | 1,150
| 1,200 | 1,200 | 1,250 (highest value)
3 PRODUCT DESCRIPTION
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