3D Smart Sensor –your assistant

on mobile machines.

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Control systemsfor mobile vehicles

3D sensors for mobile machines

The PMD 3D sensor from ifm detects scenes

and objects three-dimensionally with only

one image capture. This avoids the motion

blur that can occur with line scanners. ifm’s

award-winning patented PMD technology

forms the basis for a sensor system that can

cope with the harsh operating conditions

of mobile machines. Besides the robust and

compact design the 3D sensor system is

specially designed for outdoor applications

with changing light conditions or bright

sunlight. The ifm 3D sensor has no moving

components in contrast to other sensors

such as laser scanners. Therefore it is partic-

ularly robust and not subject to wear.

The function principle of the PMD tech-

nology is based on time-of-flight (ToF).

The scene is illuminated by modulated,

invisible infrared light and the reflected

light hits the PMD sensor. This sensor is

also connected to the source of modula-

tion. Each pixel on the PMD chip deter-

mines the distances to the scene from the

phase shift between the transmitted and

the received signal. The integrated, active

suppression of background illumination

almost completely prevents saturation of

the image sensor by extraneous light.

That means that the PMD 3D sensor can be

operated in bright sunlight up to 120 klx.

Type O3M 3D sensor

Edgerecognition

Lineguidance

Collisionprediction

Distancemonitoring

Objectrecognition

Reflectortracking

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Three-dimensional detection of scenesAutomatic detection of objects

Area surveillancein harsh environments

Constructionmachines

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Automation solutionsfor agricultural machinery

Agricultureand forestry

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Area surveillanceof free space and gates

Transportand logistics

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Automation solutions andarea surveillance in port areas

Transportand logistics

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Height and distance monitoringin airport areas

Transportand logistics

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14 - 15Technical data

Patented technology:The PMD time-of-flight technol-ogy ensures detection of scenesand objects with just one imagecapture in three dimensions andwithout motion blur.

Enormous far sightedness:The 3D sensor that is optimisedfor long ranges even detectsmoving objects at a distance ofup to 35 metres.

Integrated evaluation:All 3D calculations are made inthe powerful sensor system andthe results are provided via theCAN bus or the Fast Ethernetconnection.

Simply convenient:The parameters of the system areset via the easy-to-handle “ifmvision assistant” for Windows.Ready-to-use function blocks areavailable for the CODESYS soft-ware for machine integration.

Construction machines

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Collision prediction

The integrated, automatic object recog-

nition detects up to 20 stationary or

moving objects in the path of a construc-

tion vehicle. By comparing the current

speed, the motion vector and fixed param-

eters such as the braking distance, the

collision probability is calculated by the

3D sensor and transferred to the machine

control system via CAN bus or Ethernet

and then signalled to the driver.

Path monitoring

A freely adjustablereference point onthe vehicle allows,for example, onlyobstacles of a pre-defined heightabove ground toactually be detect-ed as obstacles.

Area surveillance in harsh environments

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Distance monitoring

For simple distance functions the integrat-

ed distance monitoring provides up to

64 adjustable regions of interest (ROIs),

i.e. individual regions whose distances are

to be monitored. Rear area monitoring

can be implemented or automation or

assistance tasks can be solved.

For the harshest environ-ments:Since the sensor does not haveany moving components, it isvirtually free of wear. Its highambient temperature range of-40 to 85 °C is the basis for uni-versal use.

Resistant to extraneouslight:The PMD technology ensures highrepeatability of the measured dataeven in difficult ambient light con-ditions or with direct sunlight.

Communicative:Interfaces such as CAN withJ1939 or CANopen and FastEthernet are integrated as stan-dard. Self-diagnostic functionsfrom the sensor to the IR systemillumination unit continuallymonitor the system status.

Reliable and fast:With a highly developed algo-rithm from the automotive sectorand a frame rate of up to50 frames / second the sensorallows fast and reliable calcula-tion of the 3D information.

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Agriculture and forestry

Swath recognition

The mobile 3Dsensor assumesswath recognitionand provides theinformation forautomatic steeringto the machinecontrol system.

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Automation solutionsfor agricultural machinery

Edge recognition

With more than 1,000 individual measure-

ments the robust 3D sensor detects the

mowing edge thus ensuring precise and

constant guidance for an efficient harvest

process. All relevant data is provided by

the sensor to the machine control system

to implement automatic steering and to

relieve the driver.

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Line guidance

A highly developed algorithm with gener-

ic recognition of linear contours provides

the machine driver with a selection of

recognised lines and their guidance.

With interrupted contours the data is

interpolated. This ensures that guidance

does not stop in case of smaller inter-

ruptions. An offset function ensures fine

adjustment between vehicle and the line

to be followed.Grape harvestingmachine

To relieve thedriver the 3D sen-sor transmits allrelevant data for

automatic steeringalong the graperow to themachine controlsystem.

Continuously reliable:Thanks to the specially modulat-ed infrared light a continuouslyhigh recognition rate can beachieved even with reflectivematerial of different intensity.All that with a minimum responsetime of only 40 ms.

High coverage:The range of up to 35 m intypical environments and up to50 m on reflective objects en-sures universal use.

Goal-oriented:Object distances and dimensionsare automatically provided in aclear grid using the selectableworld coordinate system.The ground recognition integrat-ed in the algorithm ensures highunambiguity of object recogni-tion.

Transport and logistics

Truck positioningon a loading bay

To protect the lo-gistic facilities thedriver is informedas soon as thecorrect distance tothe bay has beenreached so that heshould come to astop.

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Open-air surveillance

With the automatic object recognition of

up to 20 objects including classification

into moving or static objects the 3D sensor

provides many possibilities for area

surveillance.

Area surveillance of free space and gates

Position determination of

transport vehicles

For simple position determination the

integrated distance monitoring provides

up to 64 adjustable regions of interest

(ROIs), i.e. individual regions whose

distances are to be monitored.

This ensures, for example, position deter-

mination of a transport vehicle under-

neath a loading point.

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0 m

5 m

Fast reaction:The 2 x 32-bit processor archi-tecture ensures very fast and reli-able calculation of the 3D datawith up to 50 frames / seconddirectly in the sensor system.

No interference:Automatic suppression of back-ground illumination ensures reli-able recognition even with fullsolar radiation of 120 klx.

Reliable parallel operation:Reliable operation of several3D sensor systems in the sameenvironment is guaranteed bya frequency hopping principlechanging the modulation fre-quency automatically whenanother system is recognised.

Automatic detection ofreflectors:By detecting highly reflectiveobjects these can be classifiedand evaluated as reflectors.Even simple safety vests sufficefor this recognition.

Transport and logistics

Driver supporton a containerstacker crane

Automatic colli-sion predictionsupports thecrane driver withchanging the posi-tion and informsabout obstaclesin the path.

Simple distance monitoring

The integrated function ‘minimum

distance’ can also be used for simple area

monitoring. It informs the driver when a

minimum distance has been reached and

simultaneously it signals where this next

distance is in the recognition field.

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Automation solutions andarea surveillance in port areas

Automatic vehicle tracking with

collision prediction

A special classification of reflective objects

is used as basis for automatic tracking of

the vehicle ahead. The proven and highly-

developed algorithm from the automotive

sector is relied on.

For example, the minimum and maximum

distance to the vehicle ahead is set or

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recognition is limited to a certain arrange-

ment of reflectors via various parameters.

Additional collision prediction ensures

that obstacles are reliably detected and

signalled to the machine control system in

two stages. Interference by direct solar

radiation or other 3D sensor systems is

automatically suppressed.

High-performancemeasuring system:Thanks to the patented PMDtechnology it is possible to havea high repeatability of themeasured data even on materialsof different reflectivity. The multi-phase measuring system evendetects interference caused bydust or water mist formation.

Robust sensors:The protection ratings IP 67 andIP 69K and a wide temperaturerange of -40 to 85 °C ensureuniversal use in different appli-cations.

High reliability:Integrated self-diagnostic func-tions from the sensor to the IRsystem illumination unit alwaysensure comprehensive infor-mation of the machine controlsystem about the current functionstatus of the 3D sensor. In case ofdamage, interference or heavysoiling the sensor system can givecorresponding signals in time.

Transport and logistics

Height monitoringfor tankers

The integrated dis-tance function‘minimum dis-tance’ can monitorup to 64 selectablepoints above thetanker simulta-neously.

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The driver can,for example, besupported whenhe positions thetanker underneaththe aeroplanewing or is in-formed if the wingis lowered.

Height and distance monitoringin airport areas

Simple distance monitoring

The integrated function ‘minimum

distance’ can also be used for simple area

monitoring. It informs the driver when a

minimum distance has been reached and

simultaneously it signals where this next

distance is in the recognition field.

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Assistance foraircraft tractors

Thanks to easymonitoring of apre-defined areathe 3D sensor caneither provide an

Positioning sup-port for conveyorvehicles

More than 1,000individual measure-ments preciselydetect the environ-ment of the con-veyor belt.Customer-specificapplication solu-tions can be

implemented fastand easily usingaltogether 64‘regions of inter-est’ (ROIs), i.e.individual regionswhose distancesare to be moni-tored.

end positionmessage or even acontour imageof the nose wheelto the machinecontrol system.

Type O3M 3D sensorTechnical data

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O3M PMD 3D sensor Order no.

Mobile 3D smart sensor O3M151

Accessories Order no.

IR system illumination unit (850 mm)for mobile 3D sensors O3M950

CAN/RS232 USB interface CANfox EC2112

Adapter cable set for CANfox EC2114

Operating software for vision sensors E3D300

U-shaped bracket, suitable for sensor or illumination unit E3M100

Mounting set for clamp mounting,Ø 14 mm, stainless steel E3M103

Connection technology Order no.

MCI connection cable,connection sensor / system illumination unit

Ethernet, cross-over patch cable,PVC cable, M12 / RJ45

E3M121

M12 socket, voltage supplysystem illumination unit, PUR cable, 4 poles

E3M122

E3M131

E3M132

E11898

E12204

Length[m]

1

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5

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E3M123

E3M133

E12205

3

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Technical data

Type of sensor

Pixel resolution [Pixel]

Horizontal x vertical angel of aperture [°]

Illumination

PMD 3D chip

64 x 16

70 x 23

external illuminationnecessary

Max. frame rate [Hz] 25 / 33 / 50

Connection M12 connector

Protection rating / protection class IP 67 / IP 69K, III

Operating voltage [V DC] 9...32

Ambient temperature [°C] -40...85

21.01 x 6.16

www.ifm.com/gb/o3m

For more information, such as technical data,application videos or prices please go to

Overviewoperating distance / field of view size

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Operating distance [m]3 5 10 25 35

4.2x1.247 x 2.05

14 x 4.11

15

35.01 x 10.27

49.01 x 14.37

Field of view size [m]

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