CIGABAN YDLIDAR GS2 Linear Array Solid LiDAR Sensor

HANYAR AIKI

Yanayin
Tsarin YDLIDAR GS2 (wanda ake kira GS2) yana da yanayin aiki guda 3: yanayin aiki, yanayin duba, yanayin tsayawa.

• Yanayin rashin aiki: Lokacin da aka kunna GS2, yanayin tsoho ba shi da aiki. A cikin yanayin rashin aiki, rukunin jeri na GS2 baya aiki kuma Laser ba haske bane.
• Yanayin dubawa: Lokacin da GS2 ke cikin yanayin dubawa, naúrar kewayo tana kunna Laser. Lokacin da GS2 ya fara aiki, yana ci gaba da samples yanayin waje da fitar da shi a cikin ainihin lokacin bayan sarrafa bayanan.
• Yanayin tsayawa: Lokacin da GS2 ke gudana tare da kuskure, kamar kunna na'urar daukar hotan takardu, Laser a kashe, motar ba ta juyawa, da dai sauransu GS2 za ta kashe na'urar aunawa ta atomatik kuma ta mayar da martani ga lambar kuskure.

Ƙa'idar Aunawa
GS2 gajeriyar lidar-jihar ce mai tsayi tare da kewayon 25-300mm. An haɗa shi da laser na layi da kyamara. Bayan Laser mai layi daya ya fitar da hasken Laser, kamara ta kama shi. Dangane da ƙayyadaddun tsarin laser da kyamara, haɗe tare da ka'idar ma'aunin nisa na triangulation, zamu iya ƙididdige nisa daga abu zuwa GS2. Dangane da ma'auni na kamara, ana iya sanin ƙimar kusurwar abin da aka auna a cikin tsarin daidaitawar lidar. A sakamakon haka, mun sami cikakkun bayanan ma'auni na abin da aka auna.

Point O shine asalin haɗin kai, yankin shuɗi shine kusurwar view na kyamarar dama, kuma yankin orange shine kusurwar view na kyamarar hagu.

Tare da alamar rubutu a matsayin asalin daidaitawa, gaba shine jagorar tsarin daidaitawa digiri 0, kuma kusurwa yana ƙaruwa a agogo. Lokacin da ma'aunin girgije ya fito, tsarin bayanan (S1 ~ S160) shine L1 ~ L80, R1 ~ R80. Kusurwa da nisa da SDK ke ƙididdige su duk ana wakilta a cikin tsarin daidaitawa ta agogo.

SIRRIN SADARWA

Tsarin Sadarwa
GS2 yana sadar da umarni da bayanai tare da na'urorin waje ta tashar tashar jiragen ruwa. Lokacin da na'urar waje ta aika umarnin tsarin zuwa GS2, GS2 yana warware umarnin tsarin kuma ya dawo da saƙon amsa daidai. Dangane da abun cikin umarni, GS2 yana canza yanayin aiki daidai. Bisa ga abubuwan da ke cikin saƙon, tsarin waje zai iya rarraba saƙon kuma ya sami bayanan amsawa.

Umurnin tsarin
Tsarin waje zai iya saita daidaitaccen matsayi na aiki na GS2 kuma aika bayanai masu dacewa ta hanyar aika umarnin tsarin aiki. Umarnin tsarin da GS2 ya bayar sune kamar haka:

SHAFIN 1 YDLIDAR GS2 UMARNIN TSARIN

Umurnin tsarin	Bayani	Yanayin canzawa	Yanayin amsa
0×60	Samun Adireshin Na'ura	Yanayin tsayawa	Amsa guda ɗaya
0×61	Samun sigogi na na'ura	Yanayin tsayawa	Amsa guda ɗaya
0×62	Samun Bayanan Bayani	Yanayin tsayawa	Amsa guda ɗaya
0×63	Fara dubawa da fitarwa bayanan girgije	Yanayin dubawa	Amsa ta ci gaba
0 x64	Tsaida na'urar, dakatar da dubawa	Yanayin tsayawa	Amsa guda ɗaya
0 x67	Sake farawa mai laushi	/	Amsa guda ɗaya
0×68	Saita adadin baud na tashar tashar jiragen ruwa na serial	Yanayin tsayawa	Amsa guda ɗaya
0×69	Saita yanayin gefen (yanayin hana amo)	Yanayin tsayawa	Amsa guda ɗaya

Saƙonnin tsarin
Saƙon tsarin saƙon martani ne wanda tsarin ke ba da baya dangane da umarnin tsarin da aka karɓa. Dangane da umarnin tsarin daban-daban, yanayin amsawa da abun cikin saƙon tsarin shima sun bambanta. Akwai nau'ikan hanyoyin amsawa iri uku: babu amsa, amsa guda, amsa mai ci gaba.
Babu amsa yana nufin cewa tsarin baya mayar da kowane saƙo. Amsa guda ɗaya yana nuna cewa tsawon saƙon tsarin yana da iyaka, kuma amsa ta ƙare sau ɗaya. Lokacin da tsarin ya cika da na'urorin GS2 da yawa, wasu umarni za su karɓi martani daga na'urorin GS2 da yawa a jere. Ci gaba da amsa yana nufin cewa tsawon saƙon tsarin ba shi da iyaka kuma yana buƙatar aika bayanai akai-akai, kamar lokacin shigar da yanayin dubawa.

Amsa guda ɗaya, amsa da yawa da saƙonnin amsa ci gaba suna amfani da ka'idar bayanai iri ɗaya. Abubuwan da ke cikin ka'idar sune: babban fakiti, adireshin na'ura, nau'in fakiti, tsayin bayanai, sashin bayanai da lambar rajista, kuma ana fitarwa ta hanyar tsarin hexadecimal na tashar jiragen ruwa.

TSARI NA 2 YDLIDAR GS2 TSARI NA TSARI NA DATA DATA SAUKI.

Kunshin fakiti	Adireshin na'ura	Nau'in fakiti	Tsawon amsa	Bangaren bayanai	Duba lamba
4 Bytes	1 Byte	1 Byte	2 Bytes	N Bytes	1 Byte

Biya ta Byte

• Babban fakiti: Babban fakitin saƙo na GS2 ana yiwa alama 0xA5A5A5A5.
• Adireshin na'ura: Adireshin na'urar GS2, bisa ga adadin cascades, an raba shi zuwa: 0x01, 0x02, 0x04;
• Nau'in fakiti: Duba ginshiƙi 1 don nau'ikan umarnin tsarin.
• Tsawon amsa: Yana wakiltar tsayin amsa
• Bangaren bayanai: Umurnin tsarin daban-daban suna amsawa ga abubuwan da ke cikin bayanai daban-daban, kuma ka'idojin bayanan su sun bambanta.
• Duba lamba: duba code.

Lura: Sadarwar bayanan GS2 tana ɗaukar yanayin ƙaramin-endian, ƙaramin tsari da farko.

DATA PROTOCOL

Sami Umurnin Adireshin Na'ura
Lokacin da na'urar waje ta aika wannan umarni zuwa GS2, GS2 ta dawo da fakitin adireshin na'urar, saƙon shine:

A cikin cascading, idan N na'urorin (har zuwa 3 ana goyan bayan) suna zaren, umarnin ya dawo N amsoshi a 0x01, 0x02, 0x04, daidai da 1-3 modules bi da bi.

Ma'anar: Adireshin module 1 shine 0x01, module 2 shine 0x02, module 3 shine 0x04.

Sami Umurnin Bayanin Sigar
Lokacin da na'urar waje ta aika umarnin dubawa zuwa GS2, GS2 tana mayar da bayanin sigar sa. Sakon amsa shine:

A cikin yanayin cascading, idan an haɗa na'urori N (mafi girman 3) a jere, wannan umarni zai dawo da martanin N, inda adireshin shine adireshin na'urar ta ƙarshe.
Lambar sigar ita ce tsayin bytes 3, kuma lambar SN ita ce tsayin bytes 16.

Sami Umurnin Sigar Na'ura
Lokacin da na'urar waje ta aika wannan umarni zuwa GS2, GS2 zai dawo da sigogi na na'urar, kuma sakon shine:

A cikin cascading, idan N na'urorin (har zuwa 3 ana goyan bayan) suna zaren, umarnin yana mayar da amsoshi N, daidai da sigogin kowace na'ura.
K da B da aka karɓa daga ka'idar suna nau'in uint16 ne, waɗanda ke buƙatar canza su zuwa nau'in iyo sannan a raba su da 10000 kafin a canza su zuwa aikin lissafin.

• d_compensateK0 = (tasowa ruwa) K0/10000.0f;
• d_compensateB0 = (tasowa ruwa) B0/10000.0f;
• d_compensateK1 = (tasowa ruwa) K1/10000.0f;
• d_compensateB1 = (tasowa ruwa) B1/10000.0f;

Bias na nau'in int8 ne, wanda ke buƙatar canza shi zuwa nau'in iyo kuma a raba shi da 10 kafin musanyawa cikin aikin lissafin.

• son zuciya = (tasowa ruwa) Bias / 10;

Umurni

Duba Umurnin

Lokacin da na'urar waje ta aika umarnin dubawa zuwa GS2, GS2 yana shiga yanayin dubawa kuma yana ci gaba da ciyar da bayanan gajimare na baya. Sakon shine: An aika umarni: (Aika adireshin 0x00, cascade ko a'a, zai fara duk na'urori)

An karɓi umarni: (A cikin lokuta masu lalacewa, wannan umarni yana mayar da martani ɗaya kawai, kuma adireshin shine mafi girma adreshi, misaliample: Na'urar No.3 ta lalace, kuma adireshin 0x04.)

Sashin bayanan shine bayanan girgijen da tsarin ya bincika, wanda aka aika zuwa tashar tashar jiragen ruwa a hexadecimal zuwa na'urar waje bisa ga tsarin bayanan mai zuwa. Tsawon bayanan fakitin duka shine 322 Bytes, gami da 2 Bytes na bayanan muhalli da maki 160 (S1-S160), kowane ɗayan su 2 Bytes ne, na sama 7 bits sune bayanan ƙarfi, ƙananan 9 bits sune bayanan nesa. . Naúrar mm.

Tsaida Umurni

Lokacin da tsarin ke cikin yanayin dubawa, GS2 yana aika bayanan girgije zuwa duniyar waje. Don musaki binciken a wannan lokacin, aika wannan umarni don dakatar da binciken. Bayan aika umarnin dakatarwa, tsarin zai ba da amsa ga umarnin amsawa, kuma tsarin zai shigar da yanayin barcin jiran aiki nan da nan. A wannan lokacin, naúrar kewayon na'urar tana cikin ƙarancin wutar lantarki, kuma ana kashe Laser.

• Aika umarni: (aika adireshin 0x00, komai cascading ko a'a, duk na'urori za a rufe).

Game da cascading, idan an haɗa na'urori N (mafi girman 3) a jere, wannan umarni zai mayar da martani ne kawai, inda adireshin shine adireshin na'urar ta ƙarshe, misali.ample: idan na'urori 3 sun lalace, adireshin shine 0x04.

Saita Umarnin Rate na Baud

Lokacin da na'urar waje ta aika wannan umarni zuwa GS2, ana iya saita ƙimar baud ɗin fitarwa na GS2.

• An aika umarni: (aika adireshin 0x00, kawai yana goyan bayan saita ƙimar baud na duk na'urorin da aka casa su zama iri ɗaya), saƙon shine:

Daga cikin su, sashin bayanan shine ma'aunin ƙimar baud, gami da ƙimar baud huɗu (bps), bi da bi: 230400, 512000, 921600, 1500000 daidai da lambar 0-3 (bayanin kula: haɗin serial uku-module dole ne ya zama ≥921600, da tsoho shine 921600).

Game da cascading, idan na'urorin N (mafi girman goyon baya 3) sun haɗa a jere, umarnin zai dawo da martanin N, daidai da sigogin kowace na'ura, kuma adiresoshin sune: 0x01, 0x02, 0x04.

• Bayan saita ƙimar baud, buƙatar tausasa sake kunna na'urar.

Saita Yanayin Edge (Hanyarin hana jamming mai ƙarfi)
Lokacin da na'urar waje ta aika wannan umarni zuwa GS2, ana iya saita yanayin anti-jamming na GS2.

• Aika umarni: (aika da adireshin, adireshin cascade), saƙon shine:

liyafar umarni

Adireshi shine adireshin tsarin da ake buƙatar saita shi a cikin mahaɗin cascade. Yanayin = 0 yayi daidai da daidaitaccen yanayin, Yanayin = 1 yayi daidai da yanayin gefen (makullin yana fuskantar sama), Yanayin = 2 yayi daidai da yanayin gefen (marar tana fuskantar ƙasa). A cikin yanayin gefen, ƙayyadadden fitarwa na lidar shine 10HZ, kuma za a inganta tasirin tacewa na hasken yanayi. Yanayin = 0XFF yana nufin karatu, lidar zai koma yanayin yanzu. Lidar yana aiki a daidaitaccen yanayin ta tsohuwa.

• Saita module 1: Adireshin = 0x01
• Saita module 2: Adireshin = 0x02
• Saita module 3: Adireshin = 0x04

Umarnin Sake saitin tsarin
Lokacin da na'urar waje ta aika wannan umarni zuwa GS2, GS2 zai shigar da sake kunnawa mai laushi, kuma tsarin zai sake saitawa kuma zai sake farawa.
Aika umarni: (adireshin aika, zai iya zama ainihin adireshin da aka haɗa kawai: 0x01/0x02/0x04)

Adireshi shine adireshin tsarin da ake buƙatar saita shi a cikin mahaɗin cascade.

• Sake saitin module 1: Adireshin = 0x01
• Sake saitin module 2: Adireshin = 0x02
• Sake saitin module 3: Adireshin = 0x04

NAZARIN DATA

BAYANIN TSARI NA 3 BAYANIN TSIRA

Abun ciki	Suna	Bayani
K0(2B)	Na'urar sigogi	(uint16) Madaidaicin kusurwar kyamarar hagu k0 coefficient (duba sashe 3.3)
B0(2B)	Na'urar sigogi	(uint16) Madaidaicin kusurwar kyamarar hagu k0 coefficient (duba sashe 3.3)
K1(2B)	Na'urar sigogi	(uint16) Madaidaicin kusurwar kyamarar daidai k1 coefficient (duba sashe 3.3)
B1(2B)	Na'urar sigogi	(uint16) Madaidaicin kusurwar kyamarar daidaitaccen ma'aunin b1 (duba sashe 3.3)
BIAS	Na'urar sigogi	(int8) Madaidaicin kusurwar kyamara na yanzu na nuna son kai (duba sashe 3.3)
ENV(2B)	Bayanan muhalli	Ƙarfin haske na yanayi
Si (2B)	Bayanan auna nisa	Ƙananan 9 ragowa shine nisa, na sama 7 ragowa shine ƙimar ƙarfi

• Binciken nesa
  Tsarin lissafin nisa: Nisa = (_ ≪ 8|_) &0x01ff, naúrar mm.
  Ƙarfafa lissafin: Quality = _ ≫ 1
• Binciken kusurwa
  Ana ɗaukar shugabanci na watsi da laser azaman gaban firikwensin, ana ɗaukar tsinkayar cibiyar da'irar Laser akan jirgin PCB azaman asalin haɗin gwiwar, kuma an kafa tsarin daidaitawa na iyakacin duniya tare da layin al'ada na jirgin PCB kamar yadda yake. Hanyar 0-digiri. Bi hanyar agogon hannu, kusurwar yana ƙaruwa a hankali.

Don canza ainihin bayanan da Lidar ya watsa zuwa tsarin daidaitawa a cikin wannan adadi na sama, ana buƙatar jerin lissafin. Ayyukan jujjuyawa shine kamar haka (don cikakkun bayanai, da fatan za a duba SDK):

Duba bincike na lamba
Lambar rajistan yana amfani da tara-byte guda ɗaya don bincika fakitin bayanai na yanzu. Babban fakitin baiti huɗu da lambar rajistan kanta ba sa shiga aikin rajistan. Tsarin bayani na lambar duba shine:

• CheckSum = ADD1()
• = 1,2,…

ADD1 shine tsarin tarawa, yana nufin tara lambobi daga rubutun 1 zuwa ƙare a cikin kashi.

OTA KYAUTA

Haɓaka Gudun Aiki

Aika Protocol

CHART 4 ​​OTA DATA PROTOCOL FORMAT (KARAMIN ENDIAN)

Siga	Tsawon (BYTE)	Bayani
Fakitin_ Header	4	Babban fakitin bayanai, an gyara shi azaman A5A5A5A5
Na'ura_Adress	1	Yana ƙayyade adireshin na'urar
Kunshin_ID	1	ID fakitin bayanai (nau'in bayanai)

Data_Len	2	Tsawon bayanai na sashin bayanai, 0-82
Bayanai	n	Data, n = Data_Len
Duba_Sum	1	Checksum, lissafin ragowar bytes bayan an cire kan kai

SHAFIN 5 OTA KYAUTA KYAUTA

Nau'in umarni	Kunshin_ID	Bayani
Fara_IAP	0x0A	Aika wannan umarni don fara IAP bayan kunnawa
Gudu_IAP	0x0B	Gudun IAP, aika fakiti
Cikakken_IAP	0x0c ku	Ƙarshen IAP
ACK_IAP	0 x20	Jawabin IAP
SAKETA_System	0 x67	Sake saitin kuma sake kunna tsarin a ƙayyadadden adireshin

Fara_IAP Umarni

Aika umarni

• Tsarin bayanan sashin bayanai:
• Bayanai [0~1]: Tsohuwar ita ce 0x00;
• DATA[2~17]: Tsayayyen lambar tabbatarwa ce:
• 0x73 0x74 0x61 0x72 0x74 0x20 0x64 0x6F 0x77 0x6E 0x6C 0x6F 0x61 0x64 0x00 0x00
• Koma zuwa aika sako
• A5 A5 A5 A5 01 0A 12 00 00 00 73 74 61 72 74 20 64 6F 77 6E 6C 6F 61 64 00 00 C3

liyafar umarni: Saboda ayyukan sashin FLASH, jinkirin dawowa yana da tsawo kuma yana canzawa tsakanin 80ms da 700ms)

Karɓi tsarin bayanai

• Adireshi: adireshin tsarin;
• ACK: Tsohuwar ita ce 0x20, yana nuna cewa fakitin bayanan fakiti ne na yarda; Bayanai [0~1]: Tsohuwar ita ce 0x00;
• Bayanan[2]: 0x0A yana nuna cewa umarnin amsa shine 0x0A;
• Bayanan[3]: 0x01 yana nuna liyafar al'ada, 0 yana nuna liyafar mara kyau;
• Magana don karɓa:
  A5 A5 A5 A5 01 20 04 00 00 00 0A 01 30

Gudun_IAP Umarni

Aika umarni

Za a raba firmware yayin haɓakawa, kuma bytes biyu na farko na ɓangaren bayanan (Data) suna nuna kashewar wannan ɓangaren bayanan dangane da byte na farko na firmware.

• Bayanan[0~1]:Kunshin_Shift = Bayanai[0]+ Data[1]*256;
• Bayanan[2]~Bayanai[17]: shi ne ƙayyadadden lambar tabbatar da kirtani:
• 0x64 0x6F 0x77 0x6E 0x6C 0x6F 0x61 0x64 0x69 0x6E 0x67 0x00 0x00 0x00 0x00 0x00 Data[18]~Data[81]: firmware data;
• Koma zuwa aika sako
• A5 A5 A5 A5 01 0B 52 00 00 00 64 6F 77 6E 6C 6F 61 64 69 6E 67 00 00 00 00 00 +
  (Bayanai[18]~Bayani[81]) + Duba_Sum

liyafar umarni

• Adireshi: iadireshin module;
• ACK: Tsohuwar ita ce 0x20, yana nuna cewa fakitin bayanan fakiti ne na yarda;

Bayanai[0~1]: Package_Shift = Bayanai[0]+ Bayanai[1]*256 yana nuna bayanan bayanan firmware na amsawa. Ana ba da shawarar yin hukunci a matsayin hanyar kariya lokacin gano amsa yayin aikin haɓakawa.

• Bayanai [2] = 0x0B yana nuna cewa umarnin amsa shine 0x0B;
• Bayanai [3] = 0x01 yana nuna liyafar al'ada, 0 yana nuna rashin daidaituwa;

Magana don karɓa
A5 A5 A5 A5 01 20 04 00 00 00 0B 01 31

Cikakken_IAP Umarni

Aika umarni

• Bayanai [0~1]: Tsohuwar ita ce 0x00;
• Bayanan[2]~Bayanai[17]: Ita ce kafaffen lambar tabbatar da kirtani:
  0x63 0x6F 0x6D 0x70 0x6C 0x65 0x74 0x65 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00

Bayanan[18]~Bayanai[21]: Tutar boye-boye, nau'in uint32_t, rufaffen firmware shine 1, firmware mara rufaffen shine 0;

Koma zuwa aika sako:
A5 A5 A5 A5 01 0C 16 00 00 00 63 6F 6D 70 6C 65 74 65 00 00 00 00 00 00 00 00 + (tutar boye-boye uint32_t) + Check_Sum

liyafar umarni

• Karɓi tsarin bayanai:
• Adireshi: shine adireshin tsarin;
• ACK: Tsohuwar ita ce 0x20, yana nuna cewa fakitin bayanan fakiti ne na yarda;
• Bayanai [0~1]: Tsohuwar ita ce 0x00;
• Bayanan[2]: 0x0C yana nuna cewa umarnin amsa shine 0x0C;
• Bayanan[3]: 0x01 yana nuna liyafar al'ada, 0 yana nuna liyafar mara kyau;
• Koma zuwa saƙon da aka karɓa:
  A5 A5 A5 A5 01 20 04 00 00 00 0C 01 32

RESET_SYSTEM Umarni
Da fatan za a koma Babi na 3.8 Umarnin Sake saitin tsarin don cikakkun bayanai.

Tambaya&A

• Tambaya: Yadda za a yi hukunci da sake saiti ya yi nasara bayan aika umarnin sake saiti? Ko ana buƙatar jinkiri?
  • A: Ana iya yanke hukuncin kisa mai nasara bisa ga fakitin martani na umarnin sake saiti; ana ba da shawarar ƙara jinkirin 500ms bayan karɓar amsa kafin yin ayyuka na gaba.
• Q: Module 4 yana karɓar wasu bayanan tashar tashar jiragen ruwa waɗanda ba su dace da ka'idar ba bayan sake saiti, yaya za a magance shi?
  • A: Log ɗin wutar lantarki na module ɗin shine kirtani na bayanan ASCII tare da masu kai na 4 0x3E, wanda baya shafar bayanan al'ada tare da masu kai 4 0xA5, kuma ana iya yin watsi da su. Saboda hanyar haɗin jiki, ba za a iya karɓar rajistan ayyukan No. 1 da No. 2 ba.
• Tambaya: Yadda za a magance idan tsarin haɓakawa ya katse ta hanyar gazawar wutar lantarki kuma sake farawa?
  • A: Sake aika umarnin Start_IAP don sake haɓakawa.
• Tambaya: Menene dalilin yuwuwar aikin haɓakawa mara kyau a cikin jihar cascade?
  • A: Tabbatar da ko haɗin jiki daidai ne, kamar ko za'a iya karɓar bayanan girgije na nau'ikan nau'ikan uku;
  • Tabbatar da cewa adiresoshin nau'ikan guda uku ba sa cin karo da juna, kuma kuna iya ƙoƙarin sake sanya adiresoshin;
  • Sake saita tsarin don haɓakawa sannan kuma sake kunna gwajin;
• Q: Me yasa lambar sigar karantawa ta 0 bayan haɓaka kascade?
  • A: Yana nufin cewa haɓakawa na ƙirar bai yi nasara ba, masu amfani suna buƙatar sake saita tsarin sannan sake haɓakawa.

HANKALI

1. Yayin hulɗar umarni tare da GS2, ban da umarnin dakatarwa, wasu umarni ba za a iya mu'amala da su ba a yanayin sikanin, wanda zai iya haifar da kurakuran rarraba saƙo cikin sauƙi.
2. GS2 ba zai fara farawa ta atomatik lokacin da aka kunna ba. Yana buƙatar aika umarnin farawa don shigar da yanayin dubawa. Lokacin da ake buƙatar dakatar da jeri, aika umarnin duba tasha don dakatar da dubawa kuma shigar da yanayin barci.
3. Fara GS2 kullum, tsarin da aka ba mu shawarar shine:
   Mataki na farko:
   aika umarnin Samun Adireshin Na'ura don samun adireshin na'urar da ake amfani da ita a halin yanzu da kuma adadin cascades, da kuma daidaita adireshin;
   Mataki na biyu:
   aika umarnin sigar samun don samun lambar sigar;
   Mataki na uku:
   aika umarni don samun sigogi na na'ura don samun sigogin kusurwa na na'urar don nazarin bayanai;
   Mataki na hudu:
   aika umarnin farawa don samun bayanan girgije.
4. Shawarwari don ƙirar kayan watsa haske don windows GS2 hangen nesa:
   Idan taga hangen nesa na gaba an tsara shi don GS2, ana ba da shawarar yin amfani da PC mai infrared-permeable azaman kayan watsa haske, kuma ana buƙatar wurin watsa haske ya zama lebur (lalata ≤0.05mm), da duk wuraren da ke cikin Ya kamata jirgin ya kasance a bayyane a cikin band 780nm zuwa 1000nm. Matsakaicin haske ya fi 90%.
5. Hanyar aiki da aka ba da shawarar don kunna GS2 akai-akai da kashe allon kewayawa:
   Don rage yawan wutar lantarki na allon kewayawa, idan GS2 yana buƙatar kunnawa da kashewa akai-akai, ana ba da shawarar aika umarnin duba tasha (duba sashe 3.5) kafin kashe wuta, sannan saita TX da RX na allon kewayawa zuwa babban impedance. Sa'an nan kuma ja VCC ƙasa don kashe shi. Lokaci na gaba da aka kunna wutar lantarki, da farko cire VCC, sannan saita TX da RX azaman fitarwa ta al'ada da shigar da bayanai, sannan bayan jinkiri na 300ms, yi hulɗar umarni tare da Laser layin.
6. Game da iyakar lokacin jira bayan kowane umarni na GS2 an aika:
   • Samun adireshin: jinkirta 800ms, samun sigar: jinkiri 100ms;
   • Samu sigogi: jinkirta 100ms, fara dubawa: jinkirta 400ms;
   • Tsaida dubawa: jinkirta 100ms, saita ƙimar baud: jinkirta 800ms;
   • Saita yanayin gefen: jinkirta 800ms, fara OTA: jinkirta 800ms;

SAURARA

Kwanan wata	Sigar	Abun ciki
2019-04-24	1.0	Shirya daftarin farko
2021-11-08	1.1	Gyara (gyara tsarin yarjejeniya don haɗa bayanan kyamarar hagu da dama; Shawarwari don ƙara kayan taga hangen nesa; Ƙara ƙimar baud umarnin saitin)
2022-01-05	1.2	Gyara bayanin karba na umarni don samun adireshin na'urar, da bayanin kyamarorin hagu da dama
2022-01-12	1.3	Ƙara yanayin gefen, ƙarin K, B, bayanin lissafin BIAS
2022-04-29	1.4	Gyara bayanin babi 3.2: Sami Dokar Bayanin Sigar
2022-05-01	1.5	Gyara hanyar daidaita adireshin umarnin sake farawa mai taushi
2022-05-31	1.6	1) Sabunta sashe 3.7 2) Sashe na 3.8 Sake saitin umarnin yana ƙara amsa guda ɗaya 3) Ƙara Babi na 5 OTA haɓakawa
2022-06-02	1.6.1	1) Gyara aikin haɓaka OTA 2) Gyara Q&A na OTA

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Takardu / Albarkatu

CIGABAN YDLIDAR GS2 Linear Array Solid LiDAR Sensor [pdf] Manual mai amfani GS2 CIGABAN Madaidaicin Madaidaicin LiDAR Sensor, GS2 DEVELOPMENT, Madaidaicin LiDAR Sensor, Sensor Array Solid LiDAR Sensor.

Magana

• Manual mai amfani