ʻO OLEI LR-16F 3D LiDAR Sensor Communication Data Protocol
E ʻoluʻolu e heluhelu i kēia manual ma mua o ka hoʻohana ʻana i ka huahana no ka hana huahana maikaʻi loa.
E mālama pono i kēia manual no ka ʻike e hiki mai ana.
ʻAno Hoʻohui
- Mea hoʻohui: RJ-45 mea hoʻohui pūnaewele maʻamau
- Kūkākūkā kumu: UDP/IP protocol pūnaewele maʻamau, Aia ka ʻikepili ma ka ʻano liʻiliʻi-endian, haʻahaʻa byte mua
Hōʻano Puke ʻIkepili
Pauview
ʻO 1248 bytes ka lōʻihi o ka papa ʻikepili, me:
- Poʻo kiʻi: 42 byte
- Palena ʻikepili: 12X(2+2+96) = 1,200 paita
- ʻO stamp: 4 Bytes
- hōʻailona hale hana: 2 Bytes
Poʻomanaʻo
| Offset | Ka lōʻihi | wehewehe |
|
0 |
14 |
Aia i loko o Ethernet II: MAC kahi e hele ai：(6 Byte) MAC Sourse：(6 Byte)
ʻAno: (2 Byte) |
|
14 |
20 |
Aia ka Internet Protocol:
Ka lōʻihi o ka mana a me ke poʻo:(1 Byte) Māhele lawelawe ʻokoʻa: (1 Byte) Ka lōʻihi:(2 Byte) ʻIkepili: (2 Byte) Nā hae: (1 Byte) Māhele ʻāpana: (1 Paita) Manawa e ola ai: (1 Paita) Kūlana: (1 Paita) Ka helu helu pane: (2 Byte) |
| IP Waena: (4 Byte)
IP Waiwai: (4 Byte) |
||
|
34 |
8 |
Mea hoʻohana ʻo DatagAia ka ram Protocol: Sourse Port：(2 Byte) Destination Port: (2 Byte)
Ka lōʻihi o ka ʻikepili:(2 Byte) Ka helu helu helu: (2 Byte) |
Wehewehe poloka ikepili
ʻO ka ʻikepili i hoʻihoʻi ʻia e ka laser he 12 mau poloka data. Hoʻomaka kēlā me kēia poloka ʻikepili me kahi 2-byte identifier 0xFFEE, a ukali ʻia e kahi kihi azimuth 2-byte a me ka huina o 32 mau helu ʻikepili. Aia ka waiwai i hoʻihoʻi ʻia mai ka lase o kēlā me kēia kahawai he 2-byte ka mamao a me ka 1-byte calibration reflectivity waiwai.
| Offset | Ka lōʻihi | wehewehe |
| 0 | 2 | Hae, he 0xFFEE mau |
| 2 | 2 | ʻIkepili kihi |
| 4 | 2 | Ch0 ʻIkepili Kūlana |
| 6 | 1 | Ch0 ʻIkepili Hoʻohālike |
| 7 | 2 | Ch1 ʻIkepili Kūlana |
| 9 | 1 | Ch1 ʻIkepili Hoʻohālike |
| 10 | 2 | Ch2 ʻIkepili Kūlana |
| 12 | 1 | Ch2 ʻIkepili Hoʻohālike |
| – | – | – |
| 49 | 2 | Ch0 ʻIkepili Kūlana |
| 51 | 1 | Ch15 ʻIkepili Hoʻohālike |
| 52 | 2 | Ch0 ʻIkepili Kūlana |
| 54 | 1 | Ch0 ʻIkepili Hoʻohālike |
| 55 | 2 | Ch1 ʻIkepili Kūlana |
| 57 | 1 | Ch1 ʻIkepili Hoʻohālike |
| 58 | 2 | Ch2 ʻIkepili Kūlana |
| 60 | 1 | Ch2 ʻIkepili Hoʻohālike |
| – | – | – |
| 97 | 2 | Ch15 ʻIkepili Kūlana |
| 99 | 1 | Ch15 ʻIkepili Hoʻohālike |
Ua wehewehe ʻia ka ʻākoki kūpaʻa penei:
| Laser ID | ʻĀneʻe Kūʻē |
| 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° |
ʻO stamp
| Offset | Ka lōʻihi | wehewehe |
|
0 |
4 |
Manawaamp [31:0]: [31:20] helu o kekona [19:0] helu o Microsecond |
Hōʻailona hale hana
| Offset | Ka lōʻihi | wehewehe |
| 0 | 2 | Hale Hana:(2 Byte)0x00,0x10 |
Example
Pūʻolo protocol-ʻike pili
Pauview
| Poʻomanaʻo | ʻIke Lidar | ʻIke GPS |
| 42 Bytes | 768Bytes | 74 Bytes |
Ka lōʻihi o ka pūʻolo ʻikepili: 884 Bytes
Nānā: ʻAʻole hiki ke hoʻololi ʻia ka helu awa o ka pūʻolo ʻike, ʻo 9866 nā awa kūloko a me nā awa
Wehewehe o ke poʻo
| Offset | Ka lōʻihi | wehewehe |
|
0 |
14 |
Hoʻokomo ʻia ʻo Ethernet II: wahi MAC：(6 Byte) Sourse MAC：(6 Byte)
ʻAno: (2 Byte) |
|
14 |
20 |
Hoʻokomo ʻia ka Pūnaewele Pūnaewele:
Ka lōʻihi o ka mana a me ke poʻo:(1 Byte) Māhele lawelawe ʻokoʻa: (1 Byte) Ka lōʻihi:(2 Byte) ʻIkepili: (2 Byte) |
| Nā hae: (1 Byte)
Māhele ʻāpana: (1 Paita) Manawa e ola ai: (1 Paita) Kūlana: (1 Paita) Nānā Poʻomanaʻo: (2 Paʻa) IP Kūlana: (4 Paita) IP Waiwai: (4 Byte) |
||
|
34 |
8 |
Mea hoʻohana ʻo Datagram Protocol Hoʻokomo ʻia: Awa ʻawaʻawa：(2 Byte) Awa Hoʻoholo: (2 Byte)
Ka lōʻihi o ka ʻikepili:(2 Byte) Ka helu helu helu: (2 Byte) |
Wehewehe o Lidar Info
| Offset | Ka lōʻihi | wehewehe |
| 0 | 6 | Pāʻālua hale hana |
| 6 | 12 | Helu kumu hoʻohālike |
| 18 | 12 | Helu moʻo |
| 30 | 4 | IP awaawa |
| 34 | 2 | ʻAwa ʻikepili ʻawaʻawa |
| 36 | 4 | IP wahi e hele ai |
| 40 | 2 | Wawa ʻikepili wahi |
| 42 | 6 | Kumu MAC |
| 48 | 2 | Holo kaʻa |
|
50 |
1 |
[7] Pūnaehana GPS, 0: Hoʻohui ʻia, 1: ʻAʻohe pili [6] Hae hewa kaapuni kiʻekiʻe 0: Maʻamau, 1: Hapa [5:0] Mālama. |
|
51 |
1 |
Hiki iā GPS & Baud rate 0x00:GPS GPS Power Off
0x01:GPS Power On, Baud rate 4800 0x02:GPS Power On, Baud rate 9600 0x03:GPS Power On, Baud rate 115200 |
| 52 | 1 | Waihona |
| 53 | 1 | Waihona |
| 54 | 2 | Ka wela kaapuni luna, DataX0.0625 ℃ |
| 56 | 2 | Kaapuni kaapuni lalo, DataX0.0625 ℃ |
| 58 | 2 | Waihona |
| 60 | 32 | CH0-CH15 Kanal static offset |
| 92 | 4 | Waihona |
| 96 | 672 | Waihona |
| 768 | 74 | ʻIkepili GPS |
Example
Hoʻonohonoho i ka protocol
E hahai i ka protocol UDP, ka protocol hoʻonohonoho mea hoʻohana, hoʻouna ka lolouila luna i 8 bytes
| inoa | Heluhelu | ʻIkepili |
| Ka helu o nā paita | 2 Bytes | 6 Bytes |
| Heluhelu | inoa | Wehewehena Byte [31:0] | |
| F000 | IP kūloko | [47:16]=local_ip，[15:0] =local_port | |
| F001 | IP mamao | [31:0]=remote_ip，[15:0]= mamao_port | |
|
F002 |
Ka wikiwiki, hiki i ka GPS, ka helu baud |
[47:32] =rom_speed_ctrl [31:24]=GPS_en 0x00 = pio
0x01 = hoʻohana ʻia a ʻo 4800 0x02= ka nui o ka baud a ʻo 9600 0x03 = ka helu baud a me 115200 baud rate. [23:0]Mālama ʻia |
|
| Example: | |||
| ip kūloko a me ke awa | F0 00 C0 A8 01 64 09 40 | 192.168.1.100 2368 | |
| Kuhi ip a me ke awa | F0 01 C0 A8 01 0A 09 40 | 192.168.1.10 2368 | |
| Ka māmā holo | F0 02 02 58 00 00 00 00 | ka māmā holo 600 | |
Example:
- IP kūloko a me ke awa F0 00 C0 A8 01 64 09 40 192.168.1.100 2368
- Pahuhopu ip a me awa F0 01 C0 A8 01 0A 09 40 192.168.1.10 2368
- Ka māmā holo F0 02 02 58 00 00 00 00 ka māmā holo 600
- E hoʻomaka hou i ka 3D LiDAR i kēlā me kēia manawa i pau ai ka hoʻololi.
- ʻO ka māmā holo koho koho: 300 a i ʻole 600. koho baud rate:4800/9600/115200.
Hoʻohui hoʻololi
ʻO ka ʻike i loko o ka waihona ʻikepili LR-16F ka waiwai azimuth a me ka waiwai mamao i hoʻokumu ʻia ma ka ʻōnaehana hoʻonohonoho polar. ʻOi aku ka maʻalahi o ka hana ʻana i nā hiʻohiʻona ʻekolu-dimensional ma o ka ʻikepili kiko kiko ma o ka hoʻololi ʻana i ka waiwai hoʻonohonoho polar i ka ʻōnaehana hoʻonohonoho Cartesian.
Hōʻike ʻia nā waiwai ma luna e pili ana i kēlā me kēia kahawai ma ka papa ma lalo.
|
Kanal# |
Kihi kū kiʻekiʻe
(ω) |
ʻAmi ʻaloʻalo
(a) |
Hoʻopaʻa ʻaloʻalo
(A) |
Offset kū pololei
(B) |
| CH0 | -15° | α | 21mm | 5.06mm |
| CH1 | 1° | α+1*0.00108*H | 21mm | -9.15mm |
| CH2 | -13 | α+2*0.00108*H | 21mm | 5.06mm |
| CH3 | 3° | α+3*0.00108*H | 21mm | -9.15mm |
| CH4 | -11 | α+4*0.00108*H | 21mm | 5.06mm |
| CH5 | 5° | α+5*0.00108*H | 21mm | -9.15mm |
| CH6 | -9 | α+6*0.00108*H | 21mm | 5.06mm |
| CH7 | 7° | α+7*0.00108*H | 21mm | -9.15mm |
| CH8 | -7 | α+8*0.00108*H | -21mm | 9.15mm |
| CH9 | 9° | α+9*0.00108*H | -21mm | -5.06mm |
| CH10 | -5 | α+10*0.00108*H | -21mm | 9.15mm |
| CH11 | 11° | α+11*0.00108*H | -21mm | -5.06mm |
| CH12 | -3 | α+12*0.00108*H | -21mm | 9.15mm |
| CH13 | 13° | α+13*0.00108*H | -21mm | -5.06mm |
| CH14 | -1 | α+14*0.00108*H | -21mm | 9.15mm |
| CH15 | 15° | α+15*0.00108*H | -21mm | -5.06mm |
Nānā: Ma lalo o ka pololei maʻamau, pono ke hoʻonui ʻia nā ʻāpana o ka pākaukau ma luna o ka huina ākea α.
ʻO ke ʻano helu helu no nā hoʻonohonoho lewa
Wehewehe:
- Hoʻonohonoho ʻia ka puka ʻana o ka mamao i ana ʻia e kēlā me kēia kahawai o ka LiDAR ma ke ʻano he R. E hoʻomaopopo ʻo ka ʻāpana o ka hoʻokomo LiDAR he 2mm, e ʻoluʻolu e hoʻololi i ka 1mm mua.
- Hoʻonohonoho ʻia ka wikiwiki o ka LiDAR e like me H (maʻamau 10Hz)
- Ua hoʻonohonoho ʻia ka huina kūpaʻa o kēlā me kēia kahawai o ka LiDAR e like me ω
- Hoʻonohonoho ʻia ka puka ʻana o ka huina ākea e ka LiDAR ma ke ʻano he α
- Hoʻonohonoho ʻia ka hoʻopaʻa ʻana o kēlā me kēia kahawai o ka LiDAR e like me A
- Hoʻonohonoho ʻia ka offset kūpaʻa o kēlā me kēia kahawai o ka LiDAR e like me B
- Hoʻonohonoho ʻia ka ʻōnaehana spatial coordinate o kēlā me kēia kahawai o ka LiDAR i X, Y, Z
NO KA HUI
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Palapala / Punawai
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ʻO OLEI LR-16F 3D LiDAR Sensor Communication Data Protocol [pdf] Palapala Hoʻohana LR-16F, 3D LiDAR Sensor ʻIkepili ʻIkepili Kūkākūkā, ʻIkepili ʻIkepili Kūkākūkā, 3D LiDAR Sensor, LiDAR Sensor, 3D LiDAR, ʻIkepili, LiDAR |
