Tilt & Tamper alarm

Overview

Since SENSR utilizes data from LiDARs to recognize objects, input values critically affect performance. If the LiDAR is occluded or moved by other objects and the calibration is misaligned, the perception quality is inevitably affected. To notify system administrators of such issues, SENSR provides Tilt Alarm and Tamper Alarm features. So that the system administrators can take actions to fix the issues.

Both functions share events through notifications in the GUI and sensor health status in the standard output. Even if an alarm occurs, the action of disconnecting or physically re-adjusting the sensor must be followed up by the user.

Tilt Alarm

Tilt is triggered when a particular LiDAR is moved by an external force such as hail, strong wind, or tree branch. If the LiDAR is tilted, then user will receive a notification in the GUI and the impacted LiDAR’s health status in the output message will be changed to SENSOR_TILTED.

In this case, the user should check the calibration of the impacted LiDAR and re-calibrate it if necessary. To stop receiving the alarm, the user should go into project mode and move back into runtime mode.

How to set up Tilt Alarm

1. Go to Settings > Algo Node Parameters and select the Algo node that you want to set up the Tilt Alarm.
2. Go to tab, Algorithm Components > Tilt Detector.
3. Tick Apply for Range Based Tilt Detector.
4. (optional) Set the parameters under Range Based Tilt Detector to adjust the sensitivity. Parameter information can be found in the table below.

Tamper Alarm

Tamper is triggered when a bucket is covered by a specific LiDAR or covered by an object (ex., bird) that came too close. If the LiDAR is tampered with, then user will receive a notification in the GUI and the impacted LiDAR’s health status in the output message will be changed to SENSOR_ERRONEOUS.

In this case, the user should check whether the blockage is happening. If the blockage is happening, the user should remove the blockage. To stop receiving the alarm, the user should go into project mode and move back into runtime mode.

How to set up Tamper Alarm

1. Go to Settings > Algo Node Parameters and select the Algo node that you want to set up the Tamper Alarm.
2. Go to tab, Algorithm Components > Obstruction Detector.
3. Tick Apply for Range Obstruction Detector.
4. (optional) Set the parameters under Range Obstruction Detector to adjust the sensitivity. Parameter information can be found in the table below.