Triple-IN PS250-90 Manuale utente

PS250-90 Lightweight

Laser Range Module

User’s Manual

User’s ManualUser’s Manual

User’s Manual

Triple

TripleTriple

Triple-

-In GmbH

In GmbHIn GmbH

In GmbH

| |

| Poppenbütteler Bogen 64,

Poppenbütteler Bogen 64, Poppenbütteler Bogen 64,

Poppenbütteler Bogen 64, D

D-

- 339 Hamburg

339 Hamburg339 Hamburg

339 Hamburg

Triple-IN

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PSxxx- 0 Laser Scanner User's Manual

Content

1 ABOUT THIS DOCUMENT .................................................................................................. 3

2 SAFETY INSTRUCTIONS ..................................................................................................... 4

2.1 GENERAL WARNINGS .......................................................................................................... 4

2.2 LIMITED WARRANTY ........................................................................................................... 4

2.3 GENERAL HANDLING INSTRUCTIONS ....................................................................................... 5

2.4 PREVENTION OF ELECTROSTATIC DISCHARGE TO ELECTROSTATICALLY SENSITIVE DEVICES (ESD) ......... 6

3 TRIPLE-IN’S KEM TIME-OF-FLIGHT TECHNOLOGY ............................................................... 7

4 OPERATING FEATURES ...................................................................................................... 9

4.1 SYSTEM PARTS ................................................................................................................... 9

4.2 PS RANGE MODULE ERO POINT ......................................................................................... 11

4.3 SCAN AREA ..................................................................................................................... 11

5 CONNECTORS .................................................................................................................. 14

5.1 RJ45 ETHERNET CONNECTOR ............................................................................................. 14

5.2 20 PIN HEADER CONNECTOR ............................................................................................... 14

5.3 INTERFACE ADAPTER TO USE TRIPLE-IN STANDARD CABLES ....................................................... 16

TRANSPORT AND INTEGRATION ...................................................................................... 21

6.1 TRANSPORT ..................................................................................................................... 21

6.2 CONDENSATION AVOIDANCE .............................................................................................. 22

6.3 MECHANICAL MOUNTING .................................................................................................. 22

6.4 MOUNTING THE WINDOW ................................................................................................. 24

7 SETTING INTO OPERATION ............................................................................................... 2

7.1 WINDOWS SOFTWARE TOOLS ............................................................................................. 26

7.2 STARTUP PROCEDURE ....................................................................................................... 29

7.3 SERIAL RS232 COMMUNICATION ........................................................................................ 29

7.4 ETHERNET CONNECTION .................................................................................................... 33

7.5 PS RANGE MODULE CONFIGURATION .................................................................................. 35

7.6 TAKING SCANS ................................................................................................................. 40

7.7 FILTERS AND MASTER ECHO SELECTION ................................................................................. 43

7.8 SETTING UP THE DIGITAL SWITCHING OUTPUTS ....................................................................... 45

8 UPDATING THE FIRMWARE .............................................................................................. 48

8.1 UPDATING THE MEASUREMENT BOARD (MPU) ..................................................................... 48

8.2 UPDATING THE COMMUNICATION BOARD ............................................................................. 50

9 TROUBLE SHOOTING ........................................................................................................ 51

9.1 LED INDICATORS .............................................................................................................. 51

9.2 SELF-TEST MESSAGES AND SYSTEM HEALTH STATUS ................................................................. 52

10 TECHNICAL SPECIFICATIONS............................................................................................. 55

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PSxxx- 0 Laser Scanner User's Manual

10.1 DIMENSIONAL DRAWINGS AND OUTLINES .............................................................................. 55

10.2 HOUSING WINDOW SPECIFICATION ...................................................................................... 56

10.3 SERIAL INTERFACE CABLE DIAGRAMS ..................................................................................... 57

10.4 DATA AND POE CABLE DIAGRAMS ....................................................................................... 58

10.5 3D CAD MODEL .............................................................................................................. 59

10.6 TECHNICAL DATA .............................................................................................................. 59

11 INDEX .............................................................................................................................. 1

11.1 COMPLETE CONTENT......................................................................................................... 61

11.2 TABLE OF FIGURES ............................................................................................................ 62

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PSxxx- 0 Laser Scanner User's Manual 3

1About this Document

Triple-Ins PS Laser Scanners are for UAV integration, survey instrument

integration, industrial applications, security and surveying.

•long range

•large scan angle

•small spot size

•accurate in range and angle

•fast scan rate

•robust

•real time Ethernet

This document describes the PS 50-90 Lightweight Laser Range Module. It is

related to the

PS 50

PS 50PS 50

PS 50-

-90 Lightweight Range Module

90 Lightweight Range Module 90 Lightweight Range Module

90 Lightweight Range Module Rev.

Rev. Rev.

Rev. 403

403403

403-

-00

0000

00-

-00 A

00 A00 A

00 A

PS Firmware Version 3.03.16

PS Firmware Version 3.03.16PS Firmware Version 3.03.16

PS Firmware Version 3.03.16

If you or your colleagues have any comments on this manual, we would be

grateful to hear from you. Please write to:

Triple-IN GmbH

Poppenbütteler Bogen 64

D- 399 Hamburg

Germany

Telefon +49(0)40 50091998

Mail info@triple-in.de

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PSxxx- 0 Laser Scanner User's Manual

2Safety Instructions

2.1 General Warnings

ATTENTION

ATTENTIONATTENTION

ATTENTION

•Before using the PS Range Module, the user manual must be read and all

instructions must carefully be observed.

•The PS Range Module must be installed, configured, and serviced only by

qualified personnel.

•National and international rules and regulations must be applied according to

the field of application and usage.

•PS Range Module cannot be used as a safety device.

ATTENTION

ATTENTIONATTENTION

ATTENTION

•Measurement Laser is a laser class 1 product. Emits invisible light (905 nm).

Do not look into the laser beam!

•Red laser marker is a laser class product. Emits visible light (660 nm). Do not

look into the laser beam!

ATTENTION

ATTENTIONATTENTION

ATTENTION

To reduce the risk of electric shock, do not remove the cover. Device contains

high voltage components!

Connect and disconnect electrical linkages only under de-energized conditions.

2.2 Limited Warranty

Triple-IN’s General Condition of Sales grants limited warranty for defects in

material or workmanship in the new PS Laser Scanner.

Limited Warranty

Limited WarrantyLimited Warranty

Limited Warranty

The limited warranty does not cover

(a) any problem that is caused by accident, abuse, neglect, shock, electrostatic

Triple-IN

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PSxxx- 0 Laser Scanner User's Manual

discharge, degaussing, heat or humidity beyond product specifications, improper

installation, operation, maintenance or modification;

(b) any use contrary to the instructions in this manual;

(d) malfunctions caused by other equipment.

(e) Damage resulting during shipment. (Claim must be presented and examined

by the shipper.)

(f) damages resulting from modifications or alterations to the product in any way,

including any alterations or removal of its identification marks and labels.

2.3 General Handling Instructions

PS Range Modules are optical instruments without protection cover. Such

equipment must be handled with special care to protect the sensors from possible

damage.

Picture 1 Incorrect handling

Picture 2 Correct handling

WARNING

WARNINGWARNING

WARNING

•Handle the PS Range Module only on the base plate. Otherwise mechanical

adjustment will be damaged and warranty will get void.

•Never touch the lenses or the surfaces of the mirrors.

•Never clean the mirror with optics paper or with any kind of liquids. Use

compressed air only.

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PSxxx- 0 Laser Scanner User's Manual

2.4 Prevention of Electrostatic Discharge to

Electrostatically Sensitive Devices (ESD)

ATTENTION

ATTENTIONATTENTION

ATTENTION

Semiconductor devices can be damaged by static electricity. The following

techniques must be applied to reduce the incidence of component damage

caused by electrostatic discharge (ESD).

Because the PS Range Module has no protection casing and has unprotected

circuit boards, the following procedures are necessary.

•Before handling the assembly equipped with ES devices, drain off any ESD

on your body by touching a known earth ground. Alternatively, obtain and

wear a commercially available discharging ESD wrist strap.

•Place the assembly on a conductive surface to prevent electrostatic charge

buildup or exposure of the assembly.

•Do not remove an ESD from its protective package until immediately

before you are ready to install it.

•Immediately before removing the protective material from the leads of a

replacement ES device, touch the protective material to the chassis or

circuit assembly into which the device will be installed.

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PSxxx- 0 Laser Scanner User's Manual 7

3Triple-IN’s KEM Time-of-Flight Technology

The technological basis for the Triple-IN PS Range Modules is “Time-of-Flight”

(ToF): the travel time of light emitted by a laser diode to natural surface.

Triple-IN’ KEM method (“kontinuierliche Event Messung”) improves this well-

known technology:

Picture 3 Principle of operation

1. An angle encoder triggers a laser diode in regular angle steps.

. The laser diode emits an infrared laser beam. This “start pulse“ marks the

beginning of the time-of-flight measurement.

3. A mirror, which is connected to the angle encoder, reflects the laser beam

in certain directions. An even scan area is formed by the rotation of the

mirror.

4. The laser beam is reflected by natural surfaces. Several echoes can be the

result of window panes, rain drops, snowflakes and similar objects which

reflect parts of the laser pulse’s energy. This effect is called “multi-echo”.

PS Range Modules can record the results of up to 4 echoes for each laser

beam.

5. The echo signal variates by the surface reflectivity and the distance to the

object. The echo signal will be detected by as soon as it passes a receiver

threshold. The sensor measures the time-of-flight and the pulse width of

the echo signal.

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PSxxx- 0 Laser Scanner User's Manual 8

6. The KEM technology applies various corrections to compensate deviations

from the echo signal strength.

7. The result is accurate time-of-flight measurement, independently of the

temperature, reflectivity, and target distance.

The distance to the target is calculated by

T = ToF * c / - corr

d distance

ToF measured time-of-flight

c speed of light in ambient atmosphere

corr echo signal corrections

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PSxxx- 0 Laser Scanner User's Manual 9

4Operating Features

4.1 System parts

Picture 4: PS Range odule left hand side

Picture 5: PS Range odule right hand side.

Mirror cube Red Laser Marker

Communication board

(„Olimex“)

Angle encoder

Operating LEDs

RJ45 Ethernet connector

Measurement processing unit MPU Motor controller board

Motor Unit

Pin header connector

(bottom side)

Indice

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