Livox Mid-360 Lidar Mafi ƙarancin Gano Range Mai Amfani
Neman Kalmomi
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Kewayawa zuwa Take
View cikakken jerin batutuwa a cikin teburin abubuwan ciki. Danna kan wani batu don kewaya zuwa wannan sashe.
Buga wannan Takardun
Wannan takaddar tana goyan bayan bugu mai girma.
Amfani da wannan Manual
Labari
Gargadi
Muhimmanci
Hanyoyi da Tukwici
Magana
Zazzage Takardu
Ziyarci hanyar haɗin da ke ƙasa don zazzage sabuwar Livox Mid-360 Mai amfani Mam www.livoxtech.com/mid-360/downloads
Zazzage Livox Viewina 2
Ziyarci hanyar haɗin da ke ƙasa don sauke Livox Viewina 2: www.livoxtech.com/mid-360/downloads
Algorithm mai buɗewa
Ziyarci hanyar haɗin da ke ƙasa don zazzage Livox SDK 2 da Livox ROS Drive https://github.com/Livox-SDK
Livox Wiki
Ziyarci Livox Wiki don ƙarin bayani da aka yi niyya ga masu haɓakawa: https://livox-wiki-en.readthedocs.io
Samfurin Profile
Gabatarwa
Livox Mid-360 babban firikwensin LIDAR ne mai girma wanda za'a iya amfani dashi don aikace-aikace da yawa ciki har da motocin shiryarwa ta atomatik, robotics, birane masu wayo, da sauran filayen, kuma yana goyan bayan fahimtar taswira, sakawa, fitarwa, gujewa cikas, da sauran ayyuka. Livox Mid-360 na iya gano abubuwa kusa da mita 0.1, kuma yana da kewayon ganowa har zuwa mita 100.
Karamin Zane: Mid-360 yana da ƙayyadaddun ƙirar ƙira tare da girman kama da ƙwallon tennis da nauyin 265 g kawai, wanda ya sa ya fi dacewa da fahimtar taswira da kaucewa cikas a kan ƙananan mutummutumi.
Faɗin FOV: FOV na Mid-360 shine 360° a kwance kuma 59° a matsakaicin a tsaye. Faɗin FOV yana ba da damar Mid 360 don gano abubuwa a kusa da inganci sosai.
Madaidaicin Angular: Tare da ingantaccen tsarin tsarin injiniya na opto-mechanical, Mid-360 yana da ƙarin kewayon ganowa da mafi girman girman girgije da ɗaukar hoto. Bugu da ƙari, Mid-360 yana da fasaha na dubawa maras maimaitawa wanda zai iya ɗaukar ƙarin cikakkun bayanai.
Babban Dogara: Mid-360 yana ba da ingantaccen aminci kamar yadda ƙira ke aiki akai-akai ba tare da jujjuya na'urorin lantarki na ciki kamar mai watsawa da mai karɓa ba. Bugu da ƙari, Mid-360 ya sami ƙimar ruwa na IP67 da ƙura (ban da kayan haɗi irin su igiyoyi). Yana da kewayon zafin aiki na -20° zuwa 55°C (-4″ zuwa 131°F). Hakanan ya cika buƙatun gwaji don girgiza bazuwar a cikin sashe na 4.1.2.4 na GB/T 28046.3-2011 (Mainland China) da ISO 16750-3: 2007 (a wajen ƙasar Sin).
Module na IMU da aka gina a ciki: Mid-360 an haɗa shi tare da gyroscope mai axis 3 da gyroscope mai axis 3. Masu amfani suna kunna ko kashe bayanan suna turawa ta Livox Viewer 2 ko Livox SDK 2. Mid-360 yana tura bayanai a 200 Hz.
Mai amfani-Friendly Livox Viewina 2: Livox Viewer 2 software ce ta musamman da aka kera don na'urori masu auna firikwensin Livox LIDAR. Yana nunawa da yin rikodin bayanan girgije na ainihin lokaci, sake kunna bidiyon girgije, da kuma nazarin bayanan girgije na 3D. Masu amfani za su iya saita sigogin samfur da daidaita abubuwan extrins ta amfani da Livox Viewer 2. Matsakaicin tsaka-tsakin yana sa sauƙin amfani.
Buɗe tushen Livox SDK 2: An samar da kayan haɓaka software (SDK) don taimakawa haɓaka aikace-aikacen gyare-gyare ta amfani da bayanan da aka samu daga bayanan girgije. Livox SDK 2 yana goyan bayan Windows/Linux/Mac OS/ROS. Ziyarci https://github.com/Livox-SDK/Livox-SDK2 da lemu fiye.
Livox ROS Driver 2: Livox yana ba da buɗaɗɗen direbobi don ROS1 da ROS2. Ziyarci https://github.com/ Livox-SDK/livox_ros direba 2 don ƙarin koyo.
Halayen Samfur
Livox Mid-360 yana ɗaukar ingantaccen ƙirar gani mai wayo kuma abin dogaro, sanye take da fasahar dubawa mara maimaitawa.
Fasahar Bincike mara Maimaituwa
Livox Mid-360 yana da babban rabo mai ɗaukar hoto saboda fasahar binciken da ba maimaituwa ba. Bayan lokaci, ɗaukar hoto a cikin FOV yana ƙaruwa sosai kuma yana bayyana ƙarin cikakkun bayanai na yankin da ke kewaye.
Hoton da ke ƙasa yana nuna alamun girgije na Livox Mid-360 akan lokutan haɗin kai daban-daban (0.1 s, 0.2 s, 0.5 s da 1 s), ta amfani da fasahar dubawa mara maimaitawa.
Alamar alamar girgije ta Livox Mid-360 ta tara sama da lokutan haɗin kai daban-daban:
Hoton da ke ƙasa yana nuna ɗaukar hoto na FOV na Livox Mid-360 ta amfani da fasahar dubawa maras maimaitawa, idan aka kwatanta da na'urori masu auna firikwensin LiDAR na gargajiya waɗanda ke amfani da hanyoyin binciken injina na gama gari. Jadawalin ya nuna cewa lokacin da lokacin haɗin kai ya kasance 0.1 seconds, ɗaukar hoto na FOV na Livox Mid-360 yayi kama da firikwensin LiDAR na inji mai lamba 32. Yayin da lokacin haɗin kai ya karu zuwa daƙiƙa 0.5, ɗaukar hoto na FOV na Livox Mid-360 yana kusantar 70%, wanda ya fi na na'urar firikwensin LiDAR na inji mai lamba 64, yawancin wuraren za su haskaka ta hanyar katako na laser.
Rufin FOV na Livox Mid-360 da na'urori masu auna firikwensin LIDAR wadanda ba Livonia ba ta amfani da hanyoyin binciken injina na gama gari. 16-line wanda ba Livox LIDAR firikwensin yana da FOV na tsaye na 30 °, 32-line wanda ba Livox LIDAR firikwensin shine 41 ″, kuma 64-line wanda ba Livox LIDAR firikwensin shine 27 °.
Ayyukan hanyar dubawa ana bayyana su ta hanyar ɗaukar hoto na FOV, wanda aka ƙididdige shi azaman ɗan juzu'in FOV wanda hasken wutan lantarki ke haskakawa. Ana iya ƙididdige ɗaukar hoto na FOV (C) tare da dabara mai zuwa:
Koma zuwa Livox na hukuma webshafin don ƙarin bayani game da yadda ake ƙididdige ɗaukar hoto na FOV.
Hoton da ke ƙasa yana nuna matsakaicin matsakaicin rata na angular canji na ma'ana ga girgije sama da lokutan haɗin kai daban-daban ta amfani da fasahar dubawa maras maimaitawa. Masu amfani za su iya zaɓar lokacin haɗin kai bisa ga girman da nisa na abin da ake nufi.
Nuna matsakaicin tazarar kusurwar girgije na Livox Mid-360 akan lokutan haɗin kai daban-daban.
Ƙarsheview
- Window na gani
Hasken Laser yana wucewa ta taga na gani kuma yana duba abubuwa a cikin FOV. - Mai Haɗin Jirgin Sama M12
Ana iya haɗa mai haɗin jirgin sama na M12 zuwa Livox Aviation Connector 1-to-3 Splitter Cable (sayar da shi daban) don gwaji da sauri. Masu amfani za su iya amfani da kebul na musamman bisa ga tebur mai haɗawa don haɓaka ƙarfin kariya mai hana ruwa da tsatsa na firikwensin LIDAR. Koma zuwa sashin Haɗa don ƙarin bayani akan mahaɗin jirgin sama na M12. - Gano Ramin
Ramin ganowa yana sauƙaƙa ga masu amfani don nemo wurin da ya dace don ɗaga kafaffen tallafi don Mid-360. Koma sashin Dimensions don ƙarin bayani, - M3 Ramukan Hawa
Dutsen Livox Mid-360 zuwa wurin da ya dace ta amfani da sukurori na M3 da ramukan hawa.
Ziyarci kantin sayar da kayan aiki na DJI don siyan Livox Aviation Connector 1-to-3 Sp Litter Cable. Livox Aviation Connector 1-to-3 Splitter Cable za a iya amfani da shi kawai don gwaji da gyara kuskure. Ana ba da shawarar tsara kebul da masu haɗawa don wasu al'amuran da ke buƙatar babban aminci.
Masu haɗawa
Mai Haɗin Jirgin Sama M12
Mid-360 yana amfani da babban abin dogaro M12 A-Code mai haɗa jirgin sama (namiji). M12 12P A-code mai cikakken garkuwar mai haɗin namiji ya dace da ma'aunin IEC 61076-2-101. Nau'in haɗin mata da aka ba da shawarar shine Finecable, lambar tashar jiragen ruwa MA12FAHD12STXXXB14. Duk masu haɗawa suna da ƙimar IP na IP67. Masu amfani za su iya haɗa Livox Mid-360 tare da Livox Aviation Connector 1-to-3 Splitter Cable (an sayar da shi daban) don watsa wutar lantarki, siginar sarrafawa, da bayanai. Masu amfani kuma za su iya maye gurbin kebul ɗin tare da wasu igiyoyi don haɓaka ƙura mai hana ruwa da firikwensin LiDAR.
Livox Aviation Connector 1-to-3 Splitter Cable
Masu amfani za su iya haɗa Livox Mid-360 tare da Livox Aviation Connector 1-to-3 Splitter Cable (an sayar daban). Livox Aviation Connector 1-to-3 Splitter Cable yana da M12 mai haɗin jirgin sama (mace) a gefe ɗaya, ɗayan kuma ya rabu cikin wutar lantarki, Ethernet, da igiyoyin aiki. Tsayin kebul ɗin shine mita 1.5.
Mai haɗin jirgin sama na M12 (mace) yana haɗi zuwa mai haɗin jirgin M12 (namiji) akan Livox Mid-360. Kebul na wutar lantarki yana haɗi zuwa wutar lantarki na DC na waje. Kebul na Ethernet yana da mai haɗin hanyar sadarwa na RJ-45 wanda ke haɗawa zuwa mai haɗin RJ-45 akan kwamfuta don watsa bayanai yayin gwaji. Idan masu amfani suna buƙatar aiki tare na lokacin GPS (ba a buƙata), haɗa kebul ɗin aikin (filin 8 da 10) zuwa tushen aiki tare, tare da daidaita tashar tashar GPS azaman: ƙimar baud 9600, 8 data bits, babu daidaito. Ziyarci Livox Wiki don ƙarin bayani game da aiki tare lokaci: https://livox-wiki- en.readthedocs.io.
Dubi ƙasa don ƙarin bayani kan haɗin jirgin saman Mid-360 M12 (namiji) da Livox Aviation Connector 1-to-3 Splitter Cable.
| M12 Mai Haɗin Jirgin Sama (namiji/mace) Fil | Sigina | Nau'in | Bayani | Launi | Aiki |
| 1 | Power+ | Ƙarfi | Saukewa: DC9V-27 | Ja (tabbatacce) | Wutar Wuta |
| 9 | Power+ | Ƙarfi | Saukewa: DC9V-27 | ||
| 2 | Kasa | Ƙarfi | Kasa | Baki (rauni) | |
| 3 | Kasa | Ƙarfi | Kasa | ||
| 4 | Ethernet-TX+ | Fitowa | Ethernet-TX+ | Orange/fari | kebul na Ethernet |
| 5 | Ethernet-TX- | Fitowa | Ethernet-TX- | Lemu | |
| 6 | Ethernet-RX+ | Shigarwa | Ethernet-RX+ | Kore/fari | |
| 7 | Ethernet-RX- | Shigarwa | Ethernet-RX- | Kore | |
| 8 | LVTTL_IN | Shigar da 3.3V LVTTL | Pulse a sakan daya | Purple/fari | Kebul na aiki |
| 10 | LVTTL_IN | Shigar da 3.3V LVTTL | Shigar GPS | Grey/fari | |
| 11 | LVTTL_OUT | Fitar da 3.3V LVTTL | Abubuwan da aka tanada IO | Grey | |
| 12 | LVTTL_OUT | Fitar da 3.3V LVTTL | Abubuwan da aka tanada IO | Purple | |
| 2 & 3 | Kasa | Kasa | Kasa | Baki |
Hawan Livox Mid-360
Ingantacciyar Range FOV
FOV na Livox Mid-360 shine 360° a kwance kuma 59° a matsakaicin a tsaye. Lokacin hawa firikwensin, tabbatar cewa FOV ba ta toshe shi da kowane abu. Ziyarci www.livoxtech.com/tsakiyar-360 don zazzage samfurin 3D na Mid-360 da FOV ɗin sa.
A kwance
A tsaye
FOV mai inganci na Mid-360
Lura cewa ingantaccen kewayon ganowa na Livox Mid-360 ya bambanta dangane da inda abu yake cikin FOV. Don FOV na tsaye, mafi kusa da gefen babba, guntu mafi guntuwar kewayon ganowa shine; mafi kusa da ƙananan gefen, mafi tsayin iyakar ganowa mai tasiri shine. Koma zuwa zanen da ke ƙasa. Kula da ingantaccen kewayon ganowa lokacin amfani.
Ingantacciyar Gano Range a cikin FOV na Mid-360
Kamar yadda aka nuna a sama, lokacin da aka sanya wani abu mai haske na 10% kusa da iyakar mafi ƙasƙanci na FOV na tsaye, ana iya gano abin har zuwa 40 m. Makusanci na sama na FOV na tsaye, guntuwar kewayon ganowa mai inganci.
Yakamata a guji haɗawa da sauran Lidar FOVs. Idan an yi nuni da igiyoyin Laser daidai da juna, lalacewar da ba za ta iya jurewa ba na iya haifar da Mid-360.
Sanarwa ta Hauwa
Karanta kuma ku fahimci gargaɗin masu zuwa kafin hawa Mid-360.
- Kura da tabo a kan tagar gani za su yi mummunan tasiri ga aikin firikwensin LiDAR. Bi umarnin da ke cikin sashin Kulawa don tsaftace tagar gani ta amfani da matsewar iska, barasa isopropyl, ko rigar ruwan tabarau. Dutsen Mid-360 bayan tsaftace shi.
- Lokacin hawa Mid-360, FOV ba dole ba ne wani abu ya toshe shi, gami da gilashi.
- Babu buƙatun buƙatu yayin hawa Mid-360. Yi amfani da saman ƙasa don hawa. Idan hawa Mid-360 a juye, ba da damar sarari na ƙasa da 0.5 m tsakanin saman hawa da ƙasa. Tuntuɓi Livox idan kuna da buƙatun shigarwa na musamman.
- Mid-360 ba zai iya ɗaukar wani ƙarin kaya ba. In ba haka ba, ba za a iya tabbatar da amincin samfurin ba.
- Lokacin hawa Mid-360, ba da damar sarari na aƙalla mm 10 a kusa da na'urar don hana ƙarancin iska wanda zai iya shafar zubar da zafi.
- Ana ba da shawarar hawa Mid-360 akan shimfidar karfe mai lebur. Ya kamata farantin gindin ƙarfe ya kasance yana da kauri ba ƙasa da 3 mm ba, kuma yanki da bai gaza 10000 mm² akan farantin karfe ya kamata a fallasa shi ga iska don zubar da zafi.
Girma
Ƙasar ƙasa ta Mid-360 tana da ramukan hawa huɗu na M3 tare da zurfin 5 mm. Koma zuwa girma da ramukan hawa a cikin zane-zanen da ke ƙasa don hawa ko saka Mid-360 zuwa ko a wurin da ya dace akan tushen manufa.
Matsakaicin-360 Dimensions (koma zuwa shafi na 1)
Livox Mid-360 Nauyi da Girma
Nauyi: Kimanin 265g ku
Girma: 65 (nisa) x 65 (zurfin) x 60 (tsawo) mm
Farawa
Samar da Wutar Lantarki na waje
Aikin voltage kewayon Livox Mid-360 yana daga 9 V zuwa 27 V, aikin da aka ba da shawarartage shine 12 V. Mafi ƙarancin aiki voltage ya kamata a ƙara a cikin ƙananan yanayin zafi. Lokacin da aka haɗa Mid-360 zuwa tushen wutar lantarki ta waje kai tsaye ta amfani da mahaɗin jirgin sama na M12, tabbatar da fitarwa vol.tage kewayon tushen wutar lantarki na waje yana cikin voltage kewayon Mid-360. Lokacin da ake buƙatar kebul na tsawo, tabbatar da ƙara ƙarfin fitarwatage na tushen wutar lantarki na waje saboda ƙarin voltage raguwa. Tabbatar da iyakar voltage baya wuce 27 V. Lura cewa kebul na wutar lantarki na iya haifar da voltage hargitsi inda voltage ya wuce 27 V a wasu yanayi, kamar idan kebul ɗin wutar yana tsoma baki tare da wasu na'urorin da aka haɗa zuwa wata tushen wutar lantarki a cikin layi ɗaya na layi ɗaya ba zato ba tsammani. A cikin irin wannan yanayin, Mid-360 na iya yin aiki akai-akai ko ma ya lalace.
Mid-360 yana da ikon aiki na 6.5 W lokacin aiki akai-akai. Lokacin a cikin yanayin da zafin jiki bai wuce 35 ° C (95 ° F), ikon farawa shine 18 W (wanda ke ɗaukar kusan 8 seconds); Lokacin a cikin yanayin da zafin jiki ya fi 35°C (95°F), ikon farawa shine 9 W (wanda ke ɗaukar kusan daƙiƙa 8). Lokacin a cikin yanayin da zafin jiki ya kasance -20 ° zuwa 0 ° C (-4 ° zuwa 32 ° F), Livox Mid-360 zai fara shigar da yanayin dumama kai ta atomatik. A cikin yanayin dumama kai, ƙarfin aiki na Mid-360 zai iya kaiwa 14 W, wanda ke ɗaukar mafi yawan mintuna 10. Ƙarfin aiki na Mid-360 ya bambanta a yanayin zafi daban-daban. Tabbatar cewa samar da wutar lantarki ya dace bisa ga aikin voltage kewayon da ikon farawa mafi girma na Livox Mid-360. Ƙimar don tunani ne kawai. A cikin yanayi na al'ada, ƙarfin kololuwar farawa ya bambanta dangane da kowane firikwensin.
Haɗin kai
Livox Mid-360 yana amfani da mai haɗin jirgin sama na M12 don samar da wutar lantarki da kuma watsa bayanai. Koma zuwa sashin Haɗa don ƙarin bayani game da haɗin. Ana ba da shawarar yin amfani da Livox Aviation Connector 1-to-3 Splitter Cable (ana siyarwa daban) lokacin gwaji ko amfani da Mid-360 na ɗan lokaci. Livox Aviation Connector 1-to-3 Splitter Cable yana ƙunshe da mahaɗin jirgin sama na M12 (mace), kebul na wutar lantarki (wayoyi marasa ƙarfi), kebul na aiki (wayoyi masu rufi), da kebul na Ethernet (tare da mai haɗin RJ-45).
Livox Mid-360 yana canja wurin bayanai ta amfani da User Datagram Protocol (UDP). Yana goyan bayan tsayayyen adireshin IP. An saita duk na'urori masu auna firikwensin Livox Mid-360 LIDAR zuwa yanayin adireshi na IP ta tsohuwa tare da adireshin IP na 192.168.1.1XX (XX yana tsaye ga lambobi biyu na ƙarshe na lambar serial firikwensin Livox Mid-360 LIDAR). Tsoffin mashin ɗin subnet na na'urori masu auna firikwensin Livox Mid-360 LIDAR duk 255.255.255.0 ne kuma tsoffin ƙofofin su 192.168.1.1. Haɗa Mid-360 kai tsaye zuwa kwamfuta lokacin amfani da farko.
- Kafin haɗawa, saita adireshin IP na kwamfutar zuwa yanayin adreshin IP na tsaye. Bi matakan don saita adireshin IP na kwamfutar zuwa adireshin IP na tsaye:
Tsarin Windows
a. Danna don shigar da Cibiyar Sadarwar Sadarwa da Cibiyar Rarraba a ƙarƙashin Control Panel.
b. Zaɓi hanyar sadarwar da kake amfani da ita sannan danna Properties.
c. Danna sau biyu Sigar Intanet Protocol Version 4 (TCP/IPv4).
d. Saita adreshin IP na kwamfutar zuwa 192.168.1.50, an saita abin rufe fuska na subnet a 255.255.255.0. Danna Ok don kammalawa.
Ubuntu-18.04 tsarin
Ana iya daidaita adireshin IP na kwamfutar ta amfani da umarnin idan config a tashar.
Lambar daidaitawa ta kasance kamar ƙasa:
~ $ sudo idan saita enplane 192.168.1.50 (maye gurbin "enplane" tare da sunan tashar tashar jiragen ruwa na kwamfutar) - Haɗa Mid-360 kamar yadda aka nuna a ƙasa.
a. Haɗa mai haɗin jirgin M12 (mace) akan Mai Haɗin Jirgin Livox 1-to-3 Sp Litter Cable tare da mai haɗin jirgin sama na M12 (namiji) akan Livox Mid-360. Yakamata a kunkuntar goro na mai haɗin jirgin sama na M12 (mace) tare da maƙarƙashiya don tabbatar da akwai amintacciyar haɗi tare da haɗin jirgin M12 (namiji). A tabbatar babu tazara a tsakaninsu.
b. Haɗa mai haɗin hanyar sadarwa na RJ-45 akan Livox Aviation Connector 1-to-3 Splitter Cable zuwa kwamfuta.
c. Idan ana buƙatar aiki tare na lokacin GPS, haɗa kebul ɗin aikin akan Haɗin Livox Aviation Cable 1-zuwa-3 Sp litter Cable zuwa tushen aiki tare daidai.
d. Haɗa kebul ɗin wuta akan Haɗin Jirgin Jirgin Livox 1-zuwa-3 Sp litter Cable zuwa tushen wutar lantarki na waje. Kula da shigarwar voltage range da polarity.- Lokacin haɗa wutar lantarki da kebul na aiki, kula da juzu'in nasutage jeri da polarities. KADA KA haɗa kowace na'urar PoE zuwa mai haɗin hanyar sadarwa na RJ-45. Haɗin da ba daidai ba zai iya haifar da lalacewa marar lalacewa ga LiDAR.
- Haɗa kebul ɗin aiki akan Haɗin Jirgin Jirgin Livox 1-zuwa-3 Splitter Cable zuwa daidai.
- tushen aiki tare idan an buƙata.
Lokacin da aka haɗa firikwensin Mid-360 LiDAR da yawa zuwa kwamfuta ɗaya a cikin yanayin adireshi na IP, tabbatar cewa duk na'urori masu auna firikwensin da aka haɗa suna da adiresoshin IP daban daban, kuma ana haɗa su da kwamfutar ta amfani da maɓalli. - Idan ana buƙatar firikwensin LIDAR fiye da uku Mid-360, yi amfani da na'ura mai ba da hanya tsakanin hanyoyin sadarwa gigabit ko sauyawa.
- Lambar watsa shirye-shiryen kowane firikwensin LiDAR na iya zama viewed ta amfani da sitika na lambar QR a bayan firikwensin LIDAR ko a cikin Manajan Na'ura na Livox Viewku 2.
- Kaddamar da Livox Viewer 2 akan kwamfutar bayan an haɗa Mid-360. Danna na'urar tare da adireshin IP na tsaye wanda ya kamata a canza. Danna don buɗe shafin saiti kuma saita adreshin IP na tsakiyar-360.
Amfani
Daidaitawa
Ma'anar daidaitawar Cartesian O-XYZ na Mid-360 an bayyana shi kamar ƙasa: Point O shine tushen, kuma O-XYZ shine ma'aunin daidaitawar girgije na Mid-360.
Tsakanin-360 daidaitawa
Bayanin fitarwa
Bayanan fitarwa na tsakiyar-360 LIDAR na'urori masu auna firikwensin sun haɗa da: Push Information, Point Could Data da IMU Data.
Don cikakkun tsarin bayanan fitarwa, koma zuwa sashin ka'idojin sadarwa na Livox Wiki:
https://livox-wiki-en.readthedocs.io
Bayani Turawa
Bayan kunnawa, Livox Mid-360 lokaci-lokaci yana tura bayanan firikwensin LiDAR zuwa adireshin IP da aka saita (adireshin watsa shirye-shirye ta tsohuwa), gami da bayanan na'urar, daidaitawar mai amfani da halin yanzu. A ƙasa akwai ɓangaren bayanan da aka tura.
Tsarin Bayanan Bayanai na Mai amfani KanfigurationPoint Matsayin Yanzu Matsayin aiki na yanzu.
| Nau'in | Abun ciki | Bayani |
| Bayanin Na'urar | Serial Number | Lambar shaida guda ɗaya don Livox Mid-360. |
| Shafin Firmware | Shafin Firmware | |
| Hardware Version | Hardware Version | |
| MAC Address | Adireshin MAC na katin sadarwar. | |
| Kanfigareshan mai amfani | LiDAR Sensor IPaddress | Sanya adireshin IP, alamar subnet da ƙofa don firikwensin LiDAR. |
| Adireshin Target | Tsara adireshin da aka yi niyya don tura bayanai da aika bayanan girgije. | |
| Saita daidaitawa daban-daban. | ||
| IMU Data | Saita canjin don tura bayanan IMU, wanda aka kunna ta tsohuwa. | |
| LiDAR Sensor Extrinsic Parameters | Sanya bayanan daidaita ma'auni na waje don firikwensin LiDAR (LiDAR hasashe yana adanawa kuma baya amfani da wannan bayanin). | |
| Yanayin Aiki | Jihar aiki manufa. Masu amfani za su iya canza wannan saitin. Tsohuwar yanayin aiki shine Sampling (estarting don tattara maki girgije bayan kunnawa). | |
| Kanfigareshan FOV | Idan masu amfani ba sa buƙatar cikakken FOV na 360°, masu amfani za su iya saita firikwensin LiDAR don yin aiki a cikin wani kewayon FOV. | |
| Yanayin Ganewa | Saita azaman Na al'ada ko yanayin ganowa mai hankali.Tsohon yanayin ganowa na al'ada ne. [1] | |
| Matsayin aiki na yanzu. | ||
| Zazzabi na ciki | Yanayin zafin jiki na yanzu na mahimman abubuwan ciki na firikwensin LiDAR. | |
| Lambar Kuskure | Idan firikwensin LiDAR ya yi kuskure, masu amfani za su iya amfani da lambar kuskure don tabbatar da dalili da rarraba kuskuren. |
- Idan an saita yanayin ganowa azaman yanayin ganowa mai hankali, ana iya haɓaka ikon gano abubuwa masu ƙanƙanta, samun ingantaccen sakamako na gano abubuwa masu duhu ko haske. Lura cewa yawan amo na iya ƙaruwa kaɗan a wannan yanayin.
Bayanan Cloud Point
Yawanci, Livox Mid-360 yana farawa don fitar da bayanan girgije bayan kunnawa. Bayanan girgije mai ma'ana ya haɗa da hangen nesa, daidaitawa, tags, da lokaciamp.
Gajimare mai ma'ana shine tarin wuraren da aka gano saman abu a cikin FOV na firikwensin LiDAR. Kowane batu ya ƙunshi bayanai masu zuwa.
Nunin manufa: wanda aka bayyana ta lamba daga 0 zuwa 255. 0 zuwa 150 yayi daidai da abin da yake nunawa a cikin kewayon 0 zuwa 100% a cikin ƙirar Lambertian. 151 zuwa 255 yayi daidai da haskaka abubuwan da aka yi niyya tare da kaddarorin juyawa. Lokacin da manufa ta kasa da 2 m daga tsakiyar-360, yana iya haifar da babban kuskuren tunani. Ya kamata a yi amfani da bayanan kawai don bambance ko maƙasudin gabaɗaya ne ko kuma ya bazu.
Daidaitawa: Ana iya bayyana ma'auni na Livox Mid-360 a cikin haɗin gwiwar Cartesian (x, y, z) ko a cikin daidaitawar Spherical (r, 0, $). Dangantakar da ke tsakanin tsarin haɗin kai guda biyu ana nuna su a ƙasa. Lokacin da babu wani abu a cikin kewayon ganowa ko kuma an sanya abu sama da kewayon ganowa (kamar fiye da 100 m), za a bayyana ma'auni na gajimare kamar (0, 0, 0) a cikin haɗin gwiwar Cartesian, kuma kamar yadda (0, 0, $) a cikin daidaitawar Spherical.
Tags: Yana nuna ƙarin bayani game da wuraren da aka gano. Nuna girgije tags su ne 8-bit waɗanda ba a sanya hannu ba, waɗanda aka raba zuwa ƙungiyoyi da yawa. Kowane rukuni yana nuna dukiya ɗaya na wurin da aka gano, gami da ruwan sama, hazo, ƙura, da jan hayaniya tsakanin abubuwa, da sauransu. Matsayin amincewa yana nuna amincin wuraren da aka gano. "0" yana tsaye don bayanan girgije na al'ada (matakin amincewa mai girma); ƙananan matakin amincewa yana nuna cewa wurin da aka gano yana da matukar tasiri da nau'in amo mai dacewa, kuma a sakamakon haka sakamakon ganowa yana da ƙananan ƙima. Tace gajimaren batu bisa ga tag bayani.
Tsarin tsarin tag kamar yadda aka nuna a kasa
| Bit[7-6] | Bit[5-4] | Bit[3-2] | Bit[1-0] |
| Ajiye | Abubuwan da aka gano maki: Sauran 0: Matsayin ƙarfin gwiwa (maki na yau da kullun)
|
Abubuwan da aka gano abubuwan da aka gano: abubuwan yanayi kamar ruwan sama, hazo, da ƙura. 0: Babban ƙarfin gwiwa (maki na yau da kullun)
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Abubuwan da aka gano abubuwan da aka gano: Ja da hayaniya tsakanin abubuwa: 0: Matsayin ƙarfin gwiwa (maki na yau da kullun)
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Lokaciamp
Akwai hanyoyi guda biyu don daidaita bayanai tare da Mid-360: IEEE 1588-2008 da GPS. Lokaciamps ana nuna su a cikin sigar lamba 64-bit, kuma naúrar ns. Ziyarci Livox Wiki don ƙarin cikakkun bayanai game da aiki tare da lokaci: https://livox-wiki-en.readthedocs.io.
IEEE 1588-2008: IEEE 1588-2008 ita ce ka'idar Lokaci daidai (PTP) tana ba da damar daidaita daidaitattun agogo a ma'auni da tsarin sarrafawa ta hanyar Ethernet. Livox LIDAR firikwensin, azaman agogo na yau da kullun a cikin PTP, kawai yana goyan bayan UDP/IPV4 don PTP. Na'urori masu auna firikwensin LIDAR na Livox suna goyan bayan abubuwan saƙo masu zuwa: Aiki tare, Bibiya, Delay_req, da Delay_resp.
GPS: GPS hanya ce ta aiki tare da bayanai ta amfani da siginar PPS da abubuwan saƙon GPS. Ma'anar tashar tashar PPS iri ɗaya ce da aiki tare da PPS da aka ambata a sama. Ana aika saƙon GPS (GPRMC) zuwa madaidaitan fil ta tashar tashar jiragen ruwa (duba sashin Haɗa a cikin wannan jagorar mai amfani). Tazarar bugun bugun jini a cikin siginar PPS shine 1 s (t0 = 1000 ms) yayin da ci gaba da lokacin babban matakin vol.tage shine 11 (11> 1 mu). Bayan aika saƙon GPS ta hanyar tashar jiragen ruwa, masu amfani kuma na iya aika lokutan lokaciamp bayanin kowane bugun jini zuwa Livox Mid-360 a cikin fakitin cibiyar sadarwa. Don takamaiman umarnin sadarwa, koma zuwa sashin ka'idar sadarwa.
IMU Data
An haɗa firikwensin LIDAR tare da guntu IMU (tare da 3-axis accelerator da gyroscope 3-axis). Ta hanyar tsoho, Livox Mid-360 yana fara tura bayanan IMU a mitar 200 Hz bayan kunnawa, wanda za'a iya kunna ko kashe ta amfani da kwamfutar mai watsa shiri. Bayanan IMU sun ƙunshi haɓakar axis 3-axis da saurin kusurwa 3-axis, waɗanda kwatancensu iri ɗaya ne da na ma'aunin daidaitawar girgije. Matsayin guntu IMU a cikin daidaitawar girgije shine x=11.0 mm, y=23.29 mm, z=-44.12 mm.
Koma zuwa sashin ka'idar sadarwa don takamaiman ƙa'idar sadarwa da tsarin bayanai.
Jihohin Aiki da Yanayin Aiki
Yanayin aiki na Livox Mid-360 yana nufin yanayin aiki na yanzu na firikwensin LIDAR, yayin da yanayin aiki yana nufin yanayin aiki na manufa wanda mai amfani ya zaɓa.
Bayanin Jihohin Aiki
Jihohin aiki na Livox Mid-360 sun haɗa da marasa aiki, shirye, da sampling, da sauransu. Koma zuwa teburin da ke ƙasa don cikakkun bayanai.
| Jihohin Aiki | Bayani |
| Sampling | Ana kunna firikwensin LiDAR kuma yana aiki akai-akai (fitar da katako na Laser). |
| Rago | Ana kashe duk abubuwan haɗin gwiwa ban da tsarin sadarwa. Mafi ƙarancin wutar lantarki yana cikin wannan hali. |
| Kuskure | Firikwensin LiDAR zai shigar da matsayin kuskure lokacin da aka gano kuskure. |
| Duba kai | Na'urar firikwensin LiDAR yana gudanar da bincike-bincike kan-iko. |
| Farawar Motoci | Motar firikwensin LiDAR yana farawa. |
| Haɓakawa | Firikwensin LiDAR yana sabunta firmware. |
| Shirya | Ana kunna firikwensin LiDAR kuma a shirye yake ya fitar da katakon Laser. |
Bayanin Yanayin Aiki
Hanyoyin aiki suna nufin yanayin aiki na manufa wanda mai amfani ya zaɓa. Livox Mid-360 yana da nau'ikan aiki guda uku: rago, shirye, da sampling. Masu amfani za su iya zaɓar hanyoyin aiki daban-daban ta amfani da Livox Viewer 2 ya da Livox SDK 2.
Livox Viewina 2
Livox Viewer 2 software ce ta musamman da aka kera don na'urori masu auna firikwensin Livox LiDAR. Yana nunawa da rikodin bayanan gajimare na ainihin lokaci, sake kunna bidiyon girgije, da kuma nazarin bayanan gajimare na 3D. Masu amfani za su iya saita sigogin samfur da daidaita yanayin waje ta amfani da Livox Viewer 2. Mai sauƙin dubawa yana sa sauƙin amfani.
Ziyarci www.livoxtech.com don sauke sabuwar Livox Viewer 2. Yana goyan bayan Windows® 10 (64 bit) da Ubuntu™ 18.04 (64 bit). Bi matakan da ke ƙasa don amfani da Livox Viewina 2
Ga masu amfani da Windows, Livox Viewer 2 na iya kasa gano firikwensin LiDAR idan Windows Firewall yana kunne. A wannan yanayin, je zuwa Panel Control don kashe Windows Firewall kuma zata sake farawa Livox Viewku 2.
Masu amfani da Windows: cire zip ɗin da aka zazzage file kuma danna don buɗe exe file mai suna "Livox Viewina 2".
Masu amfani da Ubuntu: cire zip ɗin da aka zazzage file, kuma gudanar da umarni "./livox_viewer_2.sh" file a cikin tushen tushen babban fayil ɗin da ba a buɗe ba.
Don ƙarin bayani, zazzage Livox Viewer 2 Littafin mai amfani daga hukuma website:
https://www.livoxtech.com.
Kayan Haɓaka Software (SDK)
Livox SDK 2
Bayan amfani da Livox Viewer 2 don bincika bayanan girgije na ainihin lokaci, masu amfani kuma za su iya amfani da Livox SDK 2 don amfani da ma'anar girgijen da aka samo daga na'urori masu auna firikwensin Livox LIDAR zuwa yanayi daban-daban, kamar:
- Sanya Sensor LiDAR: saita sigogi na firikwensin LiDAR kuma duba matsayi.
- Samun Bayanan Cloud Point: sami ma'anar daidaitawar girgije daga firikwensin LiDAR.
- Sabunta Firmware: gudanar da sabunta firmware na firikwensin LiDAR.
Ziyarci https://github.com/Livox-SDK/Livox-SDK2 don ganin ƙarin cikakkun bayanai game da takaddun Livox SDK 2 API.
Ka'idar Sadarwar SDK
Duk Livox Viewer 2 da Livox SDK 2 suna sadarwa tare da firikwensin LiDAR ta amfani da ka'idar sadarwar SDK. Masu amfani kuma za su iya haɓaka nasu software dangane da ka'idar sadarwar SDK don fahimtar sadarwa tare da sarrafa firikwensin LiDAR, da tattara ma'aunin daidaitawar girgije.
Ziyarci https://livox-wiki-en.readthedocs.io don ƙarin koyo game da ka'idar sadarwar SDK.
Adana, Sufuri, da Kulawa
Adana
Ma'ajiyar zafin jiki na tsakiyar-360 yana daga -40° zuwa 70°C (-40° zuwa 158°F). Rike tsakiyar-360 LIDAR firikwensin a cikin busasshiyar wuri mara ƙura.
- Tabbatar cewa na'urar firikwensin LiDAR Mid-360 ba a fallasa shi ga mahalli masu ɗauke da guba ko iskar gas ko kayan aiki.
- KAR KA sauke firikwensin LIDAR na Mid-360 kuma ka yi hankali lokacin sanya shi a ajiya ko cire shi daga wurin ajiya.
- Idan ba za a yi amfani da firikwensin Mid-360 LIDAR fiye da watanni uku ba, a kai a kai bincika na'urori masu auna firikwensin da masu haɗawa don rashin daidaituwa.
Sufuri
- Kafin sufuri, sanya firikwensin LIDAR Mid-360 a cikin akwati da ya dace kuma a tabbata yana da tsaro.
- Tabbatar sanya kumfa a cikin akwatin sufuri kuma cewa akwatin yana da tsabta kuma ya bushe.
- Koyaushe rike da kulawa yayin sufuri. Kare shi daga kowane tasiri, kumbura, kuma kada ku jefa shi a ƙasa.
Kulawa
Tare da cikakken la'akari da buƙatun aminci da kwanciyar hankali a lokacin ƙira, Livox Mid-360 yana da haɓaka aikin gani, inji, da lantarki. A cikin yanayi na al'ada, kawai kiyayewa da ake buƙata don Mid-360 shine don tsaftace taga na gani na firikwensin LiDAR. Kura da tabo a kan tagar gani na iya yin mummunan tasiri ga aikin firikwensin LiDAR. Tabbatar tsaftace tagar gani akai-akai don hana faruwar hakan.
Bincika saman taga mai gani don ganin idan tsaftacewa ya zama dole. Idan ya zama dole don tsaftacewa, bi matakan da ke ƙasa:
- Yi amfani da iska mai matse ko gwangwani.
KAR KA shafa kai tsaye taga mai ƙura saboda kawai zai haifar da ƙarin lalacewa. Tsaftace tagar gani da matsewar iska ko gwangwani kafin shafa tagar gani.
Idan taga na gani ba shi da tabo na bayyane daga baya, ba lallai ba ne a goge shi. - Goge tabon:
Ana ba da shawarar yin amfani da kyallen ruwan tabarau mai tsabta da bushe don goge taga a hankali. Idan taga na gani yana da datti, yi amfani da kyallen ruwan tabarau da aka tanada tare da ƙaramin adadin propyl barasa kuma a shafa a hankali don cire datti.
Shirya matsala
Teburin da ke ƙasa yana nuna muku yadda ake warware matsala da warware matsalolin gama gari tare da firikwensin LIDAR Mid-360. Idan batun ya ci gaba, tuntuɓi Livox.
| Batu | Magani |
| Ba za a iya gano firikwensin LiDAR ba |
Idan batun ya ci gaba, kashe duk firewalls, sake kunna Livox Viewer 2 kuma a sake gwadawa.Tabbatar da fitar fakitin duk na'urorin da aka haɗa ta amfani da wani aikace-aikacen (misali, Wireshark). |
| Ba za a iya haɗawa da firikwensin LiDAR da aka gano/Ba za a iya fara s baampling |
Idan batun ya ci gaba, sake kunna firikwensin LiDAR kuma sake kunna Livox Viewku 2. |
| Babu bayanai da aka karɓa | Tabbatar da fitowar fakiti don duk na'urorin da aka haɗa ta amfani da wani aikace-aikacen (misali, Wire shark). |
Bayanin tallace-tallace
Ziyarci www.livoxtech.com/support don bincika manufofin bayan-tallace-tallace da yanayin garanti don na'urori masu auna firikwensin Livox LIDAR.
Karin bayani
Livox Mid-360 Dimensions
Ƙayyadaddun bayanai
| Livox Mid-360 | |
| Samfura | MID-360 |
| Tsayin Laser | 905nm ku |
| Tsaron Laser[1] | Class 1 (IEC 60825-1: 2014) (mai lafiya ga idanu) |
| Rage Gano (@ 100 klx) | 40m @ 10% haskakawa70m @ 80% tunani |
| Kusa da Yankin Makafi[2] | 0.1 m |
| FOV | A kwance: 360°, Tsaye: -7° ~ 52° |
| Kuskuren Random Distance (1σ)[3] | ≤ 2 cm (@10 m)[4]≤ 3 cm (@ 0.2 m)[5] |
| Kuskuren Random Angular (1σ) | ≤ 0.15° |
| Matsayin Nuna | maki 200,000/s |
| Matsakaicin Tsari | 10 Hz (ƙimar ta al'ada) |
| Port Data | 100 BASE-TX Ethernet |
| Aiki tare bayanai | IEEE 1588-2008 (PTP v2), GPS |
| Ayyukan Anti-tsangwama | Akwai |
| Rabon Ƙararrawa na Ƙarya (@100 klx)[6] | <0.01% |
| IMU | Samfuran IMU da aka gina a ciki: ICM40609 |
| Yanayin Aiki | -20° zuwa 55°C (-4° zuwa 131°F)[7] |
| Ajiya Zazzabi | -40° zuwa 70°C (-40° zuwa 158°F) |
| IP Rating | IP67 |
| Ƙarfi[8] | 6.5 W (tsawon yanayi 25°C (77°F)) |
| Wutar Lantarki Voltage Range | 9-27 V DC |
| Girma | 65 (nisa) × 65 (zurfin) × 60 (tsawo) mm |
| Nauyi | Kimanin 265g ku |
- Bambancin Laser ɗin da aka haɗa shine 25.2° (a kwance) x 8 ″ (a tsaye), wanda aka auna shi da cikakken faɗi a iyakar zauren. Matsakaicin ikon Laser ɗin da aka haɗa zai iya wuce 70 W. Don guje wa rauni ta hanyar Laser, KADA KA rarraba Livonia Mid-360.
- Ana iya gano abubuwa masu nisa tsakanin 0.1 zuwa 0.2 m daga tsakiyar-360 kuma ana iya yin rikodin bayanan girgije. Koyaya, tunda ba za a iya tabbatar da daidaiton ganowa ba, ya kamata a ɗauki bayanan azaman abin tunani kawai.
- Don gano abubuwan da ke da haske daban-daban a cikin kewayon ganowa, daidaiton bayanan girgije na wurare kaɗan na iya raguwa kaɗan.
- An gwada shi a cikin yanayi a zafin jiki na 25°C (77°F) tare da abin da aka yi niyya wanda ke da haske na 80% kuma yana da nisan mita 10 daga Livox Mid-360.
- An gwada shi a cikin yanayi a zafin jiki na 25°C (77°F) tare da abin da aka yi niyya wanda ke da hangen nesa na 80% kuma yana da nisan mita 0.2 daga Livox Mid-360. Don abubuwan da aka yi nisa tsakanin 0.1 zuwa 1 m nesa da Mid-360, idan suna da ƙarancin haske ko kuma sirara ne kuma ƙanana, ba za a iya tabbatar da tasirin ganowa ba. Wadannan abubuwa sun haɗa da amma ba'a iyakance ga kumfa baƙar fata da saman ruwa ko abubuwan da aka goge, suna da matte gama, layukan bakin ciki, da dai sauransu.
- Matsakaicin ƙararrawar ƙararrawa ta ƙararrawar ƙarar da hasken da ba daidai ba ya haifar a cikin yanayin gwaji na 100 klx a zazzabi na 25°C (77°F).
- Ayyukan Livox Mid-360 na iya raguwa kaɗan a cikin yanayin zafi mai zafi ko ƙananan zafin jiki, ko mahalli tare da girgiza mai ƙarfi ko hazo mai nauyi, da sauransu. kai ga lalacewa ta dindindin ga samfurin. Ana ba da shawarar yin amfani da ƙarin matakan zubar da zafi. Babban zafin jiki zai haifar da tsarin kariya mai zafi, kuma Livox Mid-360 zai ba da zafi mai zafi. Livox Mid-360 zai daina aiki ta atomatik idan yanayin zafi ya yi yawa. Lokacin da tambarin Livox Mid-360 ya fuskanci mai amfani, tabbatar da cewa zazzabi na waɗannan wurare bai wuce 75°C (167°F): a. Cibiyar ƙasa ta Livox Mid-360. b. Madaidaicin madaidaicin farfajiyar a cikin tsakiyar tsagi na zafi na hagu.
- Lokacin da yanayin zafi ya kasance daga -20 ° C (-4 ° F) zuwa 0 ° C (32 ° F), Livox Mid-360 zai shiga yanayin dumama kai ta atomatik, inda ƙarfin kololuwa na iya kaiwa 14 W. Tabbatar tsara wutar lantarki mai dacewa don tabbatar da firikwensin LIDAR yana aiki akai-akai.
MUNA NAN GAREKU
https://www.livoxtech.com/support
Abubuwan da ke ciki na iya canzawa ba tare da sanarwa ba. Ziyarci jami'in Livox webshafin don saukar da sabon littafin jagorar mai amfani.
https://www.livoxtech.com/mid-360/downloads
Livox da Livox Mid alamun kasuwanci ne na Livox Technology Company Limited. Windows alamar kasuwanci ce mai rijista ta Microsoft Corporation da rassanta. Ubuntu alamar kasuwanci ce mai rijista ta Canonical Ltd.
Haƙƙin mallaka © 2024 LIVOX Duk haƙƙin mallaka
Takardu / Albarkatu
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Livox Mid-360 Lidar Karamin Gano Range [pdf] Manual mai amfani Matsakaicin-360 lidar Karamin Gano Range, Tsakanin-360, Lidar Ƙananan Gano Range, Karamin Kewar Ganewa, Rage Ganewa, Range |