Tilt Detection

SENSR utilizes the inputs from LiDARs, and as such, the quality of LiDAR inputs critically influences the performance of the software. If, due to external forces, the LiDAR shifts and its calibration is distorted, or over a long period of use, it gradually tilts more than its initial state, although it's very minutely, the perception quality of SENSR degrades. This is of significant importance for system maintenance over a long duration of usage.

For more effective maintenance, SENSR is equipped with a Tilt Detection feature to detect and alert about any tilts in the LiDAR and an Online Recalibration function that can automatically recalibrate without the need for user intervention, if necessary.

Tilt Detection

Tilt Alarm is triggered when a particular LiDAR is moved by an external force such as hail, strong wind, or tree branch, which is detected by feature, Tilt Detection. 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.

If the 'Online Recalibration' described below is turned on, tilts of less than a defined threshold will be automatically corrected. However, if the tilt is substantial and requires user intervention, a Tilt Alarm will be activated and an alarm will be transmitted through the GUI and SENSR health message.

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 Detection & Auto-Correction.
3. Tick Apply for Enable Tilt-Detection.
4. (optional) Set the parameters under Auto-Correction to adjust the sensitivity. Parameter information can be found in the table here. The Tilt Alarm will be triggered if the deviation overshoot the maximum threshold set.

Online Recalibration

Online recalibration is triggered when a LiDAR slightly moves from its initial position. It can be due to mounts being loosened or thermal expansion for example. All triggers are completely adjustable by the user to allow setting the boundary between an automatic recalibration and a tilt alert that requires the intervention of a maintenance operator.

In this case, the user does not have any action to carry out as the system will automatically adjust the LiDAR's calibration.

How to set up Online Recalibraton

1. Go to Settings > Algo Node Parameters and select the Algo node that you want to set up the Online Recalibration.
2. Go to tab, Algorithm Components > Tilt Detection & Auto-Correction.
3. Tick Enable Auto-correction
4. (optional) Set the parameters under Auto-Correction to adjust the sensitivity. Parameter information can be found in the table here.