SICK multiScan136 User manual

OPERATING INSTRUCTIONS
multiScan136
3D LiDAR sensor

Described product
multiScan136
NOTE
The functional scope of the multiScan depends on the selected configuration. Certain
functions are supported or not supported, depending on the configured variant. The
operating instructions describe the full functional scope of the multiScan.
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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Contents
1 About this document........................................................................ 6
1.1 Information on the operating instructions.............................................. 6
1.2 Explanation of symbols............................................................................ 6
1.3 Further information................................................................................... 7
2 Safety information............................................................................ 8
2.1 Intended use............................................................................................. 8
2.2 Improper use............................................................................................. 8
2.3 Cybersecurity............................................................................................ 8
2.4 Limitation of liability................................................................................. 9
2.5 Modifications and conversions................................................................ 9
2.6 Requirements for skilled persons and operating personnel.................. 9
2.7 Operational safety and specific hazards................................................. 10
3 Product description........................................................................... 11
3.1 Scope of delivery....................................................................................... 11
3.2 Status indicators....................................................................................... 11
3.3 Type label.................................................................................................. 12
3.4 Principle of operation............................................................................... 13
3.4.1 Measurement principle........................................................... 13
3.4.2 Range finding........................................................................... 17
3.4.3 Multi-echo analysis.................................................................. 17
3.4.4 Direction measurement.......................................................... 18
3.4.5 Multi-layer technology.............................................................. 18
3.4.6 Coordinate system................................................................... 19
3.4.7 Filter.......................................................................................... 21
3.4.7.1 Fog filter................................................................... 21
3.4.7.2 Echo filter................................................................ 22
3.4.7.3 Particle filter............................................................ 22
3.4.7.4 Moving average filter.............................................. 23
3.4.7.5 Data reduction filter................................................ 24
3.4.7.6 Region of interest................................................... 25
3.4.8 Measurement data output...................................................... 25
3.4.8.1 Data formats........................................................... 25
3.4.8.2 Scan layer address................................................. 25
3.4.8.3 Segmented data output......................................... 27
3.4.8.4 Data preparation..................................................... 28
3.4.8.5 ROS driver............................................................... 29
3.4.9 Object sizes.............................................................................. 29
3.4.10 Impact of object surfaces on the measurement................... 30
3.4.11 Scanning range........................................................................ 32
3.4.12 RSSI values.............................................................................. 33
4 Transport and storage....................................................................... 35
CONTENTS
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4.1 Transport................................................................................................... 35
4.2 Unpacking.................................................................................................. 35
4.3 Transport inspection................................................................................. 35
4.4 Storage...................................................................................................... 35
5 Mounting............................................................................................. 36
5.1 Mounting instructions............................................................................... 36
5.2 Mounting the system plug on the device................................................ 36
5.3 Mounting the device................................................................................. 37
5.4 Mounting multiple devices....................................................................... 38
6 Electrical installation........................................................................ 39
6.1 Wiring instructions.................................................................................... 39
6.2 Prerequisites for safe operation of the device........................................ 40
6.3 Calculation rule......................................................................................... 42
6.4 Cable reserve on system plug.................................................................. 43
6.5 Connection diagram................................................................................. 44
6.6 Connecting the device electrically........................................................... 44
7 Commissioning.................................................................................. 46
7.1 Operation using SOPASair........................................................................ 46
7.1.1 Opening user interface............................................................ 46
7.1.2 Overview................................................................................... 46
7.1.3 Navigating in the live image.................................................... 47
7.1.4 User levels................................................................................ 47
7.1.5 Displaying live data.................................................................. 48
7.1.5.1 Activating/deactivating filters................................ 48
7.1.6 Configuring interfaces............................................................. 48
7.2 Operation in SOPAS ET............................................................................. 48
7.2.1 Operation with SOPAS ET........................................................ 49
8 Maintenance...................................................................................... 50
8.1 Maintenance plan..................................................................................... 50
8.2 Cleaning..................................................................................................... 50
9 Troubleshooting................................................................................. 51
9.1 General faults, warnings, and errors....................................................... 51
9.2 Repairs...................................................................................................... 51
9.3 Returns...................................................................................................... 51
9.4 Disposal..................................................................................................... 52
10 Technical data.................................................................................... 53
10.1 Features.................................................................................................... 53
10.2 Mechanics/Electronics............................................................................. 55
10.3 Dimensional drawing................................................................................ 56
10.4 Performance............................................................................................. 56
10.5 Interfaces.................................................................................................. 57
CONTENTS
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10.6 Ambient data............................................................................................. 57
11 Accessories........................................................................................ 58
12 Annex.................................................................................................. 59
12.1 Declarations of conformity and certificates............................................ 59
12.2 Licenses.................................................................................................... 59
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 the handling and safe
operation of 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.
1 ABOUT THIS DOCUMENT
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1.3 Further information
More information can be found on the product page. It can be called up via SICK
ProductID: pid.sick.com/{P/N}/{S/N}
{P/N} corresponds to the part number of the product (see type label).
{S/N} corresponds to the serial number of the product (see type label).
The following information is available depending on the product:
•Data sheets
•This document in all available language versions
•CAD files and dimensional drawings
•Certificates (e.g., declaration of conformity)
•Other publications
•Software
•Accessories
ABOUT THIS DOCUMENT 1
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2 Safety information
2.1 Intended use
The multiScan 3D LiDAR sensor is an intelligent sensor for invisibly detecting objects
in areas to be monitored. It has been designed for indoor or outdoor and mobile or
stationary use in stand-alone operation.
Typical application areas are, for example, anti-collision monitoring and rear area moni‐
toring in industrial (autonomous) vehicles, person counts at access gates, monitoring of
land and buildings, volume monitoring, automated guided vehicle systems for outdoors,
robot area, traffic and park management systems.
NOTE
The functional scope of the multiScan depends on the selected configuration. Certain
functions are supported or not supported, depending on the configured variant. The
operating instructions describe the full functional scope of the multiScan.
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 the documentation must be strictly observed.
■Shut down the product immediately in case of damage.
2.3 Cybersecurity
Overview
To protect against cybersecurity threats, it is necessary to continuously monitor and
maintain a comprehensive cybersecurity concept. A suitable concept consists of organi‐
zational, technical, procedural, electronic, and physical levels of defense and considers
suitable measures for different types of risks. The measures implemented in this
product can only support protection against cybersecurity threats if the product is used
as part of such a concept.
You will find further information at www.sick.com/psirt, e.g.:
•General information on cybersecurity
•Contact option for reporting vulnerabilities
•Information on known vulnerabilities (security advisories)
2 SAFETY INFORMATION
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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
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.
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
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
SAFETY INFORMATION 2
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2.7 Operational safety and specific hazards
Please observe the safety notes and the warnings listed here and in other sections
of this product documentation to reduce the possibility of risks to health and avoid
dangerous situations.
CAUTION
Optical radiation: Class 1 Laser Product
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.
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.
2 SAFETY INFORMATION
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3 Product description
3.1 Scope of delivery
Depending on the chosen device version, the scope of delivery of a device will include
the following components:
Table 2: Scope of delivery
No. of
units
Component Note
1 Device in the ordered ver‐
sion (complete device or basic
device).
The functional scope of the
device depends on the ordered
configuration.
Complete device:
•Components are mounted at the factory (hous‐
ing and system plug).
Basic device:
•To mount the housing and system plug yourself,
see "Mounting the system plug on the device",
page 36.
All devices:
•Without holders and connecting cables
1 Printed safety notes, multilin‐
gual
Brief information and general safety notes
The actual scope of delivery may differ for special designs, additional orders or due to
the latest technical changes.
3.2 Status indicators
Figure 1: Position of the four status LEDs, front and top view
1LED1
2LED2
3LED3
4LED4
PRODUCT DESCRIPTION 3
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LED1/LED3 (color) LED2/LED4 (color) Description
O (Red) O (Red) Start-up, parameterization, firmware
update, correctable error
- - Off
Ö (Red) Ö (Red) Fatal error
-O (Green) On/Ready for operation
-O (Yellow) Standby / energy saving
-Ö (Yellow) Warning
O (Green) Ö (Yellow) Restart after time; input
O (Green) Ö (Yellow) Contamination warning
Ö (Red) Ö (Yellow) Contamination error
Ö (Green) Ö (Red) Alignment mode
O (Green) O (Yellow) O
(Red)
O (Green) O (Yellow) O
(Red)
Identifying the device
O = illuminated; Ö = flashing
3.3 Type label
Device
Information for identifying the sensor can be found on the bottom of the device.
á
ß
7
1
5
43
2
6
89
multiScan136
Product ID: pid.sick.com/1099656/22221234
Manufactured: Made in Germany SICK AG DE-79183 Waldkirch
MAC: 00:80:41:ae:fd:7e
Voltage range: DC 9V ... 30V
Power: Ptyp. 10W max. 35W
MULS1AA-1010202111
Ident No.: 1099656
Serial No.: 2221234
Jan 2022
Figure 2: multiScan type label (example)
1Type code
2Part number
3Serial number
4Production date
5Conformity mark/certification mark, protection class, symbol: Observe the operating
instructions!
3 PRODUCT DESCRIPTION
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6Production site
7Manufacturer
8Typical power, max. power
9Voltage supply
ßMAC address
àData Matrix code with product data and link to product page
áWeb address of product page
Male connector
Information for identifying the male connector is located on the connector.
2
6
4
3
5
71
Figure 3: Type label for the multiScan male connector (example)
1Type code
2Product ID with part number (P/N) and serial number (S/N)
3Pin assignment
4Conformity mark/certification mark
5Production site
6Data Matrix code with product data and link to product page
7Manufacturer
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 spherical 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 4: Device with 16 scan layers, side view
Scan layers
The device has 16 scan layers:
•A high-resolution planar scan layer at an elevation angle of 0°, which was devel‐
oped for high-precision navigation.
•15 conical scan layers (5 oriented downwards and 10 upwards). This includes
another high-resolution scan layer at an elevation angle of 34.5°, which can be
used, for example, for checking overhangs in high-bay warehouses.
The scan layers are numbered in ascending order - starting with 1 - with descending
elevation angle.
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Figure 5: Positions of the 16 scan layers, side view
1Scan layer 1
2Scan layer 6 (high resolution)
3Scan layer 14 (high resolution)
4Scan layer 16
Figure 6: Possible shapes of a scan layer, 3D view
1Navigation scan layer with increased azimuth resolution and elevation angle 0°
2Scan layers with an elevation angle < 0°
3Scan layers with an elevation angle > 0°
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Figure 7: Each of the 16 horizontal point lines is created by one scan layer of the device. In the
example, four people have been detected by the device.
Due to their conical shape, all scan layers except for the one with an elevation angle
of 0° are bent slightly upwards or downwards when they hit a flat object depending
on where the cone opens out. The larger the elevation angle value, the stronger the
curvature.
Figure 8: Cone-shaped scan layer as the cause for a bent scan line
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Figure 9: Visualization of a scanned wand as an example for the effect of the cone-shaped scan
layer
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.
The device uses an in-house technology from SICK. With this measurement process,
a measured value is formed statistical evaluation of multiple single pulses. The multi-
echo concept evaluates up to 691200 measured values per second. The measured
value consists not only of a single time-of-flight measurement, but includes evaluated
information from numerous pulses. This guarantees a significantly more stable time
and distance measurement.
t
1 2
1Emitted pulse
2Receive pulse
3.4.3 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 10: Multi-echo analysis: example industrial application for building management.
1Fog
2Rain
3Measuring object
3.4.4 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.
The rate at which a laser beam is emitted in a counterclockwise direction differs
depending on the scan layer and device variant. The two high-resolution scan layers
(scan layer 6 and 14 see figure 5, page 15) send a set of 24pulses over an angular
range of 0.125° every 0.125°. A measured value is then derived from the received
signals for these pulses. All other scan layers send 24pulses over an angular range
of 0.125° every 1° of rotation. This gives an angular resolution of 0.125° for the
high-resolution scan layers and 1° for every other scan layer.
1°
0,125°
24x
1
2
24x 24x 24x 24x 24x 24x 24x 24x
1°
0,125°
24x
24x 24x 24x 24x 24x 24x 24x 24x
Figure 11: Schematic representation of the sequence of events based on the example of one
high-resolution scan layer and one scan layer
1High-resolution scan layer
2Scan layer
3.4.5 Multi-layer technology
The multi-layer technology of the device uses 16scan layers at different vertical angles
to compensate for pitch angle, for example when the device is attached to a vehicle.
This enables the device to reliably detect an object even, for example, when the vehicle
accelerates or brakes.
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Figure 12: Multi-plane technology
1LiDAR sensor
2Scan layers
3Object
3.4.6 Coordinate system
Device coordinate system
The origin of the device coordinate system (X=0, Y=0, Z=0) is a single point that serves
as the origin and reference for all laser beams and the distance measurement of the
device. When no translation is applied to the device in the world coordinate system, this
point coincides with the origin of the world coordinate system.
The azimuthal (horizontal) angle of a beam is called theta. The beam at zero azimuth
angle lies in the middle of the main viewing direction of the device so the scan is
symmetrical.
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The elevation angle (vertical angle) of a beam is designated phi and is measured
relative to the x-y plane:
•Elevation angle < 0 is above the x-y plane, i.e., for positive z-values
•Elevation angle > 0 is below the x-y plane, i.e., for negative z-values
The data is always output in the device coordinate system, not in the world coordinate
system.
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