Integration of the PDS

The key to a successful implementation of any solution is a firm understanding of all requirements. PDS is no different. This section provides all details required to ensure successful implementation of PDS. This includes:

Mounting position:
Where and how the camera should be mounted to the vehicle.
Wiring:
How to wire the PDS solution (power supply/communication).
Software interface:
How the PDS solution is connected to the vehicle controller.
Detectable pallet types:
What types of pallets can be detected with the standard PDS solution.

Following these steps will ensure a successful PDS implementation.

The PDS solution

Mounting position:

Inclination

Mounting height

Wiring

The PDS is integrated in the O3D Camera. This camera requires a 24V DC power supply and communicates via Ethernet. The wiring of both interfaces is shown in the following image:

Connector: 1 x M12 Electrical connection: Process connection	Connector: 1 x M12 Electrical connection: Ethernet
1. U+	1. TD+
2. Trigger input	2. RD+
3. GND	3. TD-
4. Switching output 1 ready	4. RD-
5. Switching output 1 cascading

Note: The camera requires 2.4 A peak current during image capture.

Detectable pallet types

The PDS is designed to detect pallets with two pallet pockets. A distinction is made between "block" and "stringer" pallets.

The PDS can be used to detect the following 2-pocket pallet geometries/types:

Wood, block	Wood, stringer	Plywood, stringer

Double-sided	Reversible	2-way

GMA 4-way	Single-face, stringer	CHEP

PECO	Plastic	Nestable, plastic

IGPS

Software interface

The PDS communicates with the vehicle controller via Ethernet using a wire protocol.

The wire protocol document, code examples and the ROS implementation can be download from ifm Github.

ifm Github