Abubuwan da ke ciki boye
1 OLEI LR-16F 3D LiDAR Sensor Bayanan Sadarwa
2 Tsarin Fakitin Bayanai
3 Kunshin bayanin yarjejeniya yarjejeniya
4 Saita yarjejeniya
5 Daidaita juyawa
6 GAME DA KAMFANI
7 Takardu / Albarkatu
7.1 Magana
8 Labarai masu alaka

OLEI-logo

OLEI LR-16F 3D LiDAR Sensor Bayanan Sadarwa

OLEI-LR-16F-3D-LiDAR-Sensor-Sadarwa-Bayanai-Protocol-fig-1

Da fatan za a karanta wannan jagorar kafin amfani da samfurin don mafi kyawun aikin samfur.
Tabbatar kiyaye wannan littafin don tunani na gaba.

Nau'in Haɗa

  1. Mai haɗawa: RJ-45 daidaitaccen haɗin Intanet
  2. Basic yarjejeniya: UDP/IP daidaitaccen ka'idar intanit, Bayanai suna cikin ƙaramin-endian tsari, ƙananan byte farko

Tsarin Fakitin Bayanai

Ƙarsheview

OLEI-LR-16F-3D-LiDAR-Sensor-Sadarwa-Bayanai-Protocol-fig-2

Jimlar tsawon firam ɗin bayanai shine 1248 bytes, gami da:

  • Babban taken: 42 bytes
  • Toshe bayanai: 12X(2+2+96) = 1,200 bytes
  • Lokaci stamp: 4 baiti
  • Alamar masana'anta: 2 Bytes

Kai

Kashewa Tsawon Bayani
 

 

0

  

 

14

 Ethernet II sun haɗa da: MAC Makomawa: (6 Byte) M MAC： (6 Byte)

Nau'i: (2 Byte)
 

 

 

 

 

 

14

  

 

 

 

 

 

20

 Ka'idojin Intanet sun haɗa da:

Siga & Tsawon Kai: (1 Byte) Filin Sabis daban-daban: (1 Byte) Jimlar Tsawon: (2 Byte)

Shaida: (2 Byte)

Tutoci: (1 Byte)

Kashe Juzu'i: (1 Byte) Lokacin Rayuwa: (1 Byte) yarjejeniya: (1 Byte)

Babban Shafi: (2 Byte)
Hanyar IP: (4 Byte)

Adireshin IP: (4 Byte)
 

 

34

  

 

8

 User Datagram Protocol sun hada da: Sourse Port: (2 Byte) Manufa tashar jiragen ruwa: (2 Byte)

Tsawon Bayanai: (2 Byte)

Kudi: (2 Byte)

Bayanin toshe bayanai
Bayanan da aka dawo da laser sun ƙunshi tubalan bayanai 12. Kowane toshe bayanan yana farawa da mai ganowa 2-byte 0xFFEE, sannan kuma kusurwar azimuth 2-byte da jimillar maki 32. Ƙimar da aka dawo da lase na kowane tashoshi ya ƙunshi ƙimar nisa 2-byte da ƙima mai ƙima 1-byte.

Kashewa Tsawon Bayani
0 2 Tuta, koyaushe yana 0xFFEE
2 2 Bayanan kusurwa
4 2 Ch0 bayanan jeri
6 1 Ch0 Bayanan Tunani
7 2 Ch1 bayanan jeri
9 1 Ch1 Bayanan Tunani
10 2 Ch2 bayanan jeri
12 1 Ch2 Bayanan Tunani
– – –
49 2 Ch0 bayanan jeri
51 1 Ch15 Bayanan Tunani
52 2 Ch0 bayanan jeri
54 1 Ch0 Bayanan Tunani
55 2 Ch1 bayanan jeri
57 1 Ch1 Bayanan Tunani
58 2 Ch2 bayanan jeri
60 1 Ch2 Bayanan Tunani
– – –
97 2 Ch15 bayanan jeri
99 1 Ch15 Bayanan Tunani

An bayyana kusurwar tsaye kamar haka:

Laser ID Kusurwar tsaye
0 -15°
1 1°
2 -13°
3 3°
4 -11°
5 5°
6 -9°
7 7°
8 -7°
9 9°
10 -5°
11 11°
12 -3°
13 13°
14 -1°
15 15°

OLEI-LR-16F-3D-LiDAR-Sensor-Sadarwa-Bayanai-Protocol-fig-3

Lokaci stamp

Kashewa Tsawon Bayani
 

0

  

4

 Lokaciamp [31:0]: [31:20] kirga na dakika [19:0] na Microsecond.

Alamar masana'anta

Kashewa Tsawon Bayani
0 2 Ma'aikata: (2 Byte) 0x00,0x10

Example

OLEI-LR-16F-3D-LiDAR-Sensor-Sadarwa-Bayanai-Protocol-fig-4
OLEI-LR-16F-3D-LiDAR-Sensor-Sadarwa-Bayanai-Protocol-fig-5

Kunshin bayanin yarjejeniya yarjejeniya

Ƙarsheview

Kai Lidar Info Bayanin GPS
42 Bytes 768 Bytes 74 Bytes

Tsawon kunshin bayanai: 884 Bytes
Lura: Ba za a iya canza lambar tashar jiragen ruwa na fakitin bayanin ba, na gida da tashar jiragen ruwa duka 9866 ne

Ma'anar kai

Kashewa Tsawon Bayani
 

 

0

  

 

14

 Ethernet II ya haɗa da: MAC Makomawa: (6 Byte) M MAC： (6 Byte)

Nau'i: (2 Byte)
 

 

14

  

 

20

 Ka'idojin Intanet sun haɗa da:

Siga & Tsawon Kai: (1 Byte) Filin Sabis daban-daban: (1 Byte) Jimlar Tsawon: (2 Byte)

Shaida: (2 Byte)
Tutoci: (1 Byte)

Kashe Juzu'i: (1 Byte) Lokacin Rayuwa: (1 Byte) yarjejeniya: (1 Byte)

Babban Shafi: (2 Byte) Wurin IP: (4 Byte)

Adireshin IP: (4 Byte)
 

 

34

  

 

8

 User Datagram Protocol sun hada da: Sourse Port: (2 Byte) Manufa tashar jiragen ruwa: (2 Byte)

Tsawon Bayanai: (2 Byte)

Kudi: (2 Byte)

Ma'anar Lidar Info

Kashewa Tsawon Bayani
0 6 Lambar Masana'antu
6 12 Lambar Samfura
18 12 Lambar Jerin
30 4 Tsarin IP
34 2 Data Port
36 4 Hanyar IP
40 2 Manufa data Port
42 6 Source MAC
48 2 Gudun Motoci
 

50

  

1

 [7] Haɗin GPS, 0: Haɗe, 1: Babu haɗin kai [6] Tutar kuskuren kewayawa na sama 0: Na al'ada, 1: Kuskure [5:0] Ajiye
 

 

51

  

 

1

 Kunna GPS & Ƙimar Baud 0x00:GPS A kashe Wutar GPS

0x01:GPS Power On, Baud rate 4800 0x02:GPS Power On, Baud rate 9600

0x03:GPS Power On, Baud rate 115200
52 1 Ajiye
53 1 Ajiye
54 2 Babban zafin jiki, DataX0.0625 ℃
56 2 Zazzabi na kewaya ƙasa, DataX0.0625 ℃
58 2 Ajiye
60 32 CH0-CH15 Tashoshi a tsaye biya diyya
92 4 Ajiye
96 672 Ajiye
768 74 Bayanin GPS

Example

OLEI-LR-16F-3D-LiDAR-Sensor-Sadarwa-Bayanai-Protocol-fig-6 OLEI-LR-16F-3D-LiDAR-Sensor-Sadarwa-Bayanai-Protocol-fig-7

Saita yarjejeniya

Bi ƙa'idar UDP, ƙa'idar saitin mai amfani, kwamfuta ta sama tana aika bytes 8

Suna Adireshi Bayanai
Yawan bytes 2 Bytes 6 Bytes
Adireshi Suna Ma'anar Byte [31:0]
F000 IP na gida [47:16] = local_ip, [15:0] = tashar tashar gida
F001 Nesa IP [31:0] = nesa_ip, [15:0] = tashar nisa
 

 

 

F002

  

 

 

Gudun gudu, kunna GPS, ƙimar baud

 [47:32] = rom_speed_ctrl [31:24] = GPS_en 0x00 = kashe

0x01 = an kunna kuma adadin baud shine 4800 0x02 = an kunna kuma ƙimar baud shine 9600 0x03 = an kunna da ƙimar baud 115200

[23:0] An kiyaye
Exampda:
Local ip da tashar jiragen ruwa F0 C00 A0 8 01 64 09 192.168.1.100 2368
Target ip da tashar jiragen ruwa F0 C01 A0 8 01A 0 09 192.168.1.10 2368
Gudun juyawa F0 02 02 58 00 00 00 00 gudun 600

Exampda:

  • Ip na gida da tashar jiragen ruwa F0 00 C0 A8 01 64 09 40 192.168.1.100 2368
  • Target ip da tashar jiragen ruwa F0 01 C0 A8 01 0A 09 40 192.168.1.10 2368
  • Gudun juyawa F0 02 02 58 00 00 00 00 saurin 600
  • Sake kunna 3D LiDAR duk lokacin da aka kammala gyara.
  • Gudun juyawa na zaɓi: 300 ko 600. ƙimar baud na zaɓi: 4800/9600/115200.

Daidaita juyawa

Bayanin da ke cikin fakitin bayanan LR-16F shine ƙimar azimuth da ƙimar nisa da aka kafa a cikin tsarin haɗin gwiwar iyakacin duniya. Ya fi dacewa don gina fage mai girma uku ta hanyar bayanan gajimare ta hanyar canza ƙimar daidaitawar polar zuwa tsarin haɗin gwiwar Cartesian.
Ana nuna ƙimar da ke sama daidai da kowane tashoshi a cikin tebur mai zuwa:

 

Tashoshi#

 A tsaye kusurwa

(ω)

 A kwance kusurwa

(α)

 A kwance biya

(A)

 A tsaye biya diyya

(B)
CH0 -15° α 21mm ku 5.06mm ku
CH1 1° α+1*0.00108*H 21mm ku -9.15mm
CH2 -13 α+2*0.00108*H 21mm ku 5.06mm ku
CH3 3° α+3*0.00108*H 21mm ku -9.15mm
CH4 -11 α+4*0.00108*H 21mm ku 5.06mm ku
CH5 5° α+5*0.00108*H 21mm ku -9.15mm
CH6 -9 α+6*0.00108*H 21mm ku 5.06mm ku
CH7 7° α+7*0.00108*H 21mm ku -9.15mm
CH8 -7 α+8*0.00108*H -21mm 9.15mm ku
CH9 9° α+9*0.00108*H -21mm -5.06mm
CH10 -5 α+10*0.00108*H -21mm 9.15mm ku
CH11 11° α+11*0.00108*H -21mm -5.06mm
CH12 -3 α+12*0.00108*H -21mm 9.15mm ku
CH13 13° α+13*0.00108*H -21mm -5.06mm
CH14 -1 α+14*0.00108*H -21mm 9.15mm ku
CH15 15° α+15*0.00108*H -21mm -5.06mm

Lura: Ƙarƙashin daidaito na al'ada, kusurwar kwance α kawai yana buƙatar ƙara sigogi a cikin tebur a sama.

Ƙididdigar lissafi don daidaitawar sararin samaniya shine

OLEI-LR-16F-3D-LiDAR-Sensor-Sadarwa-Bayanai-Protocol-fig-9

Ma'anar:

  • An saita fitowar nisa da aka auna ta kowane tashar LiDAR azaman R. Lura cewa sashin shigarwar LiDAR shine 2mm, da fatan za a canza zuwa 1mm da farko.
  • An saita saurin juyawa na LiDAR azaman H (yawanci 10Hz)
  • An saita kusurwar tsaye na kowane tashar LiDAR azaman ω
  • An saita fitowar kusurwar kwance ta LiDAR azaman α
  • An saita saitin kwance na kowane tashar LiDAR azaman A
  • An saita saiti na tsaye na kowane tashar LiDAR azaman B
  • An saita tsarin daidaita sararin samaniya na kowane tashar LiDAR zuwa X, Y, Z

    OLEI-LR-16F-3D-LiDAR-Sensor-Sadarwa-Bayanai-Protocol-fig-8

GAME DA KAMFANI

Takardu / Albarkatu

OLEI LR-16F 3D LiDAR Sensor Bayanan Sadarwa [pdf] Manual mai amfani
LR-16F.

Magana

Labarai masu alaka

Bar sharhi

Ba za a buga adireshin imel ɗin ku ba. Ana yiwa filayen da ake buƙata alama *