OLEI LR-16F 3D LiDAR Sensor Kev Sib Txuas Lus Cov ntaub ntawv raws tu qauv
Thov nyeem phau ntawv no ua ntej siv cov khoom rau cov khoom lag luam zoo tshaj plaws.
Nco ntsoov khaws phau ntawv no rau yav tom ntej siv.
Hom Connector
- Connector: RJ-45 txheem internet connector
- Cov txheej txheem yooj yim: UDP / IP tus qauv hauv internet raws tu qauv, Cov ntaub ntawv nyob rau hauv me me-endian hom, qis byte ua ntej
Data Packet Format
Tshajview
Tag nrho ntev ntawm cov ntaub ntawv ncej yog 1248 bytes, suav nrog:
- Ncej header: 42 bytes
- Cov ntaub ntawv thaiv: 12 X(2+2+96) = 1,200 bytes
- Lub sij hawm stamp:4 bytes
- Lub Hoobkas cim: 2 Bytes
Lub taub hau
| Offset | Ntev | Kev piav qhia |
|
0 |
14 |
Ethernet II suav nrog: Destination MAC: (6 Byte) Sourse MAC: (6 Byte)
Hom: (2 Byte) |
|
14 |
20 |
Internet raws tu qauv muaj xws li:
Version & Header Length :(1 Byte) Differentiated Services Field: (1 Byte) Total Length:(2 Byte) Kev txheeb xyuas: (2 Byte) Chij: (1 Byte) Fragment Offse: (1 Byte) Lub Sijhawm Ua Haujlwm: (1 Byte) raws tu qauv: (1 Byte) Header Checksum: (2 Byte) |
| Qhov chaw IP: (4 Byte)
IP chaw nyob: (4 Byte) |
||
|
34 |
8 |
Tus neeg siv Datagram raws tu qauv muaj xws li: Sourse Chaw nres nkoj: (2 Byte) Chaw nres nkoj qhov chaw: (2 Byte)
Cov ntaub ntawv Length: (2 Byte) Checksum: (2 Byte) |
Cov ntaub ntawv thaiv kev txhais
Lub laser xa rov qab cov ntaub ntawv muaj 12 cov ntaub ntawv thaiv. Txhua cov ntaub ntawv thaiv pib nrog 2-byte tus cim 0xFFEE, ua raws li 2-byte azimuth kaum sab xis thiab tag nrho ntawm 32 cov ntaub ntawv cov ntsiab lus. Tus nqi xa rov qab ntawm txhua channel muaj 2-byte nrug tus nqi thiab 1-byte calibration reflectivity tus nqi.
| Offset | Ntev | Kev piav qhia |
| 0 | 2 | Chij, nws ib txwm 0xFFEE |
| 2 | 2 | Angle Cov ntaub ntawv |
| 4 | 2 | Ch0 Raning Data |
| 6 | 1 | Ch0 Reflectivity Data |
| 7 | 2 | Ch1 Raning Data |
| 9 | 1 | Ch1 Reflectivity Data |
| 10 | 2 | Ch2 Raning Data |
| 12 | 1 | Ch2 Reflectivity Data |
| – | – | – |
| 49 | 2 | Ch0 Raning Data |
| 51 | 1 | Ch15 Reflectivity Data |
| 52 | 2 | Ch0 Raning Data |
| 54 | 1 | Ch0 Reflectivity Data |
| 55 | 2 | Ch1 Raning Data |
| 57 | 1 | Ch1 Reflectivity Data |
| 58 | 2 | Ch2 Raning Data |
| 60 | 1 | Ch2 Reflectivity Data |
| – | – | – |
| 97 | 2 | Ch15 Raning Data |
| 99 | 1 | Ch15 Reflectivity Data |
Lub kaum sab xis yog txhais raws li hauv qab no:
| Laser ID | Lub kaum sab xis |
| 0 | -15 ° |
| 1 | 1° Nws |
| 2 | -13 ° |
| 3 | 3° Nws |
| 4 | -11 ° |
| 5 | 5° Nws |
| 6 | -9 ° |
| 7 | 7° Nws |
| 8 | -7 ° |
| 9 | 9° Nws |
| 10 | -5 ° |
| 11 | 11° Nws |
| 12 | -3 ° |
| 13 | 13° Nws |
| 14 | -1 ° |
| 15 | 15° Nws |
Lub sij hawm stamp
| Offset | Ntev | Kev piav qhia |
|
0 |
4 |
Sijhawmamp [31:0]: [31:20] suav Seconds [19:0] suav Microsecond |
Lub Hoobkas cim
| Offset | Ntev | Kev piav qhia |
| 0 | 2 | Factory: (2 Byte) 0x00,0x10 |
Example
Kev sib txuas lus raws tu qauv-cov ntaub ntawv pob
Tshajview
| Lub taub hau | Lidar Info | GPS Cov ntaub ntawv |
| 42 Bytes | 768 Bytes | 74 Bytes |
Ntev ntawm cov ntaub ntawv pob: 884 Bytes
Nco tseg: Qhov chaw nres nkoj ntawm cov ntaub ntawv pob tsis tuaj yeem hloov pauv, cov chaw nres nkoj hauv zos thiab lub hom phiaj yog 9866
Definition ntawm header
| Offset | Ntev | Kev piav qhia |
|
0 |
14 |
Ethernet II suav nrog: Destination MAC: (6 Byte) Sourse MAC: (6 Byte)
Hom: (2 Byte) |
|
14 |
20 |
Internet Protocol suav nrog:
Version & Header Length :(1 Byte) Differentiated Services Field: (1 Byte) Total Length:(2 Byte) Kev txheeb xyuas: (2 Byte) |
| Chij: (1 Byte)
Fragment Offse: (1 Byte) Lub Sijhawm Ua Haujlwm: (1 Byte) raws tu qauv: (1 Byte) Header Checksum: (2 Byte) Qhov chaw IP: (4 Byte) IP chaw nyob: (4 Byte) |
||
|
34 |
8 |
Tus neeg siv Datagram raws tu qauv suav nrog: Sourse Chaw nres nkoj: (2 Byte) Chaw nres nkoj qhov chaw: (2 Byte)
Cov ntaub ntawv Length: (2 Byte) Checksum: (2 Byte) |
Kev txhais ntawm Lidar Info
| Offset | Ntev | Kev piav qhia |
| 0 | 6 | Hoobkas Code |
| 6 | 12 | Qauv nab npawb |
| 18 | 12 | Series Number |
| 30 | 4 | Tus IP |
| 34 | 2 | Sourse data Port |
| 36 | 4 | Qhov chaw IP |
| 40 | 2 | Chaw nres nkoj data |
| 42 | 6 | Source MAC |
| 48 | 2 | Tsav ceev |
|
50 |
1 |
[7] Kev sib txuas GPS, 0: Txuas, 1: Tsis muaj kev sib txuas [6] Sab saum toj Circuit Court yuam kev chij 0: Ib txwm, 1: yuam kev [5: 0] Reserve |
|
51 |
1 |
GPS Enable & Baud tus nqi 0x00: GPS GPS Power Off
0x01: GPS Power On, Baud tus nqi 4800 0x02: GPS Power On, Baud tus nqi 9600 0x03: GPS Power On, Baud tus nqi 115200 |
| 52 | 1 | Khaws cia |
| 53 | 1 | Khaws cia |
| 54 | 2 | Sab saum toj Circuit Court Kub, DataX0.0625 ℃ |
| 56 | 2 | Hauv qab Circuit Court Kub, DataX0.0625 ℃ |
| 58 | 2 | Khaws cia |
| 60 | 32 | CH0-CH15 Channel zoo li qub offset |
| 92 | 4 | Khaws cia |
| 96 | 672 | Khaws cia |
| 768 | 74 | Cov Ntaub Ntawv GPS |
Example
Teeb tsa tus txheej txheem
Ua raws li UDP raws tu qauv, tus neeg siv teeb tsa raws tu qauv, lub khoos phis tawj sab saud xa 8 bytes
| Lub npe | Chaw nyob | Cov ntaub ntawv |
| Tus naj npawb ntawm bytes | 2 Bytes | 6 Bytes |
| Chaw nyob | Lub npe | Byte txhais [31:0] | |
| F000 | Hauv zos IP | [47:16]=local_ip,[15:0] =local_port | |
| F001 | Chaw taws teeb IP | [31:0]=remote_ip,[15:0]= chaw nres nkoj | |
|
F002 |
Ceev, GPS pab, baud tus nqi |
[47:32] =rom_speed_ctrl [31:24]=GPS_en 0x00 = tawm
0x01 = enabled thiab baud tus nqi yog 4800 0x02 = enabled thiab tus nqi baud yog 9600 0x03 = enabled thiab 115200 baud tus nqi [23:0]Thov |
|
| Example: | |||
| Local IP thiab chaw nres nkoj | F0 00 C0 A8 01 64 09 40 | 192.168.1.100 | |
| Hom phiaj ip thiab chaw nres nkoj | F0 01 C0 A8 01 0A 09 40 | 192.168.1.10 | |
| Rotating ceev | F0 02 02 58 00 00 00 00 | ceev 600 | |
Example:
- Local IP thiab chaw nres nkoj F0 00 C0 A8 01 64 09 40 192.168.1.100 2368
- Target ip thiab chaw nres nkoj F0 01 C0 A8 01 0A 09 40 192.168.1.10 2368
- Rotating ceev F0 02 02 58 00 00 00 00 ceev 600
- Rov pib dua 3D LiDAR txhua lub sijhawm hloov kho tiav.
- Yeem rotating ceev: 300 lossis 600. yeem baud tus nqi: 4800/9600/115200 .
Coordinate conversion
Cov ntaub ntawv nyob rau hauv LR-16F cov ntaub ntawv pob yog tus nqi azimuth thiab tus nqi nyob deb tsim nyob rau hauv lub polar coordinate system. Nws yooj yim dua los tsim peb-dimensional scene los ntawm cov ntsiab lus huab cov ntaub ntawv los ntawm kev hloov cov polar tswj tus nqi rau Cartesian kev tswj hwm qhov system.
Cov txiaj ntsig saum toj no sib raug rau txhua tus channel tau qhia hauv cov lus hauv qab no:
|
Channel# |
Lub kaum sab xis
(ω) |
Kab rov tav kaum
(α) |
Kab rov tav offset
(A) |
Ntsug offset
(B) |
| CH 0 | -15 ° | α | 21 hli | 5.06 hli |
| CH 1 | 1° Nws | α + 1 * 0.00108 * H | 21 hli | -9.15 hli |
| CH 2 | - 13 Nws | α + 2 * 0.00108 * H | 21 hli | 5.06 hli |
| CH 3 | 3° Nws | α + 3 * 0.00108 * H | 21 hli | -9.15 hli |
| CH 4 | - 11 Nws | α + 4 * 0.00108 * H | 21 hli | 5.06 hli |
| CH 5 | 5° Nws | α + 5 * 0.00108 * H | 21 hli | -9.15 hli |
| CH 6 | -9 | α + 6 * 0.00108 * H | 21 hli | 5.06 hli |
| CH 7 | 7° Nws | α + 7 * 0.00108 * H | 21 hli | -9.15 hli |
| CH 8 | -7 | α + 8 * 0.00108 * H | -21 hli | 9.15 hli |
| CH 9 | 9° Nws | α + 9 * 0.00108 * H | -21 hli | -5.06 hli |
| CH 10 | -5 | α + 10 * 0.00108 * H | -21 hli | 9.15 hli |
| CH 11 | 11° Nws | α + 11 * 0.00108 * H | -21 hli | -5.06 hli |
| CH 12 | -3 | α + 12 * 0.00108 * H | -21 hli | 9.15 hli |
| CH 13 | 13° Nws | α + 13 * 0.00108 * H | -21 hli | -5.06 hli |
| CH 14 | -1 | α + 14 * 0.00108 * H | -21 hli | 9.15 hli |
| CH 15 | 15° Nws | α + 15 * 0.00108 * H | -21 hli | -5.06 hli |
Nco tseg: Raws li qhov tseeb ib txwm muaj, lub kaum sab xis kab rov tav α tsuas yog xav tau kom nce qhov tsis muaj nyob hauv cov lus saum toj no.
Cov mis laij lej rau qhov chaw coordinates yog
Lus txhais:
- Qhov ntsuas qhov deb ntawm qhov tso zis los ntawm txhua channel ntawm LiDAR yog teem raws li R. Nco ntsoov tias chav tsev ntawm LiDAR cov tswv yim yog 2 hli, thov hloov mus rau 1 hli ua ntej
- Rotating ceev ntawm LiDAR yog teem raws li H (feem ntau 10Hz)
- Lub kaum sab xis ntawm txhua channel ntawm LiDAR yog teem raws li ω
- Lub kaum sab xis tso zis los ntawm LiDAR yog teem raws li α
- Kab rov tav offset ntawm txhua channel ntawm LiDAR yog teem raws li A
- Qhov ntsug offset ntawm txhua channel ntawm LiDAR yog teem raws li B
- Lub spatial coordinate system ntawm txhua channel ntawm LiDAR yog teem rau X, Y, Z
Hais txog COMPANY
- Morpheus Tek
- Web: www.morpheustek.com
- Email: sales@morpheustek.com
- TEL: (+86) 400 102 5850
Cov ntaub ntawv / Cov ntaub ntawv
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OLEI LR-16F 3D LiDAR Sensor Kev Sib Txuas Lus Cov ntaub ntawv raws tu qauv [ua pdf] Tus neeg siv phau ntawv LR-16F, 3D LiDAR Sensor Kev Sib Txuas Lus Cov Ntaub Ntawv, Kev Sib Txuas Lus Cov Ntaub Ntawv, 3D LiDAR Sensor, LiDAR Sensor, 3D LiDAR, Sensor, LiDAR |
