OLEI LR-16F 3D LiDAR Sensor Communication Data Protocol
Chonde werengani bukuli musanagwiritse ntchito mankhwalawa kuti muchite bwino kwambiri.
Onetsetsani kuti mwasunga bukuli kuti mudzaligwiritse ntchito mtsogolo.
Mtundu wa Cholumikizira
- Cholumikizira: RJ-45 yolumikizira intaneti yokhazikika
- Protocol yoyambira: UDP/IP muyezo wapaintaneti protocol, Deta ili m'mawonekedwe ang'onoang'ono, otsika poyambira
Mtundu wa Paketi ya Data
Zathaview
Kutalika konse kwa chimango cha data ndi 1248 byte, kuphatikiza:
- Mutu wa chimango: 42 pa
- Data block: 12X(2+2+96) = 1,200 mabayiti
- Nthawi stamp: 4 bati
- Chizindikiro chamakampani: 2 bati
Mutu
| Offset | Utali | Kufotokozera |
|
0 |
14 |
Efaneti II ikuphatikiza: Kopita MAC: (6 Byte) Sourse MAC: (6 Byte)
Mtundu: (2 Byte) |
|
14 |
20 |
Internet Protocol ikuphatikiza:
Mtundu & Utali Wamutu :(1 Byte) Gawo la Ntchito Zosiyana: (1 Byte) Utali Wonse:(2 Byte) Chizindikiritso: (2 Byte) Mbendera: (1 Byte) Fragment Offse: (1 Byte) Nthawi Yokhala ndi Moyo: (1 Byte) Protocol: (1 Byte) Checksum Yamutu: (2 Byte) |
| IP yofikira: (4 Byte)
IP Sour: (4 Byte) |
||
|
34 |
8 |
Mtumiki Datagram Protocol ikuphatikiza: Sourse Port: (2 Byte) Doko Lofikira: (2 Byte)
Utali wa Data: (2 Byte) Checksum: (2 Byte) |
Tanthauzo la block block
Deta yobweza laser imakhala ndi midadada 12 ya data. Aliyense chipika deta akuyamba ndi 2-byte identifier 0xFFEE, kenako 2-byte azimuth ngodya ndi okwana 32 mfundo deta. Mtengo wobwerera wa lase wa tchanelo chilichonse uli ndi mtunda wa 2-byte ndi 1-byte calibration reflectivity value.
| Offset | Utali | Kufotokozera |
| 0 | 2 | mbendera, nthawi zonse ndi 0xFFEE |
| 2 | 2 | Angle Data |
| 4 | 2 | Ch0 Range Data |
| 6 | 1 | Ch0 Reflectivity Data |
| 7 | 2 | Ch1 Range Data |
| 9 | 1 | Ch1 Reflectivity Data |
| 10 | 2 | Ch2 Range Data |
| 12 | 1 | Ch2 Reflectivity Data |
| – | – | – |
| 49 | 2 | Ch0 Range Data |
| 51 | 1 | Ch15 Reflectivity Data |
| 52 | 2 | Ch0 Range Data |
| 54 | 1 | Ch0 Reflectivity Data |
| 55 | 2 | Ch1 Range Data |
| 57 | 1 | Ch1 Reflectivity Data |
| 58 | 2 | Ch2 Range Data |
| 60 | 1 | Ch2 Reflectivity Data |
| – | – | – |
| 97 | 2 | Ch15 Range Data |
| 99 | 1 | Ch15 Reflectivity Data |
Ngongole yoyima imafotokozedwa motere:
| Laser ID | Ngongole Yoyimirira |
| 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° |
Nthawi stamp
| Offset | Utali | Kufotokozera |
|
0 |
4 |
Nthawiamp [31:0]: [31:20] chiwerengero cha Sekondi [19:0] chiwerengero cha Microsecond |
Chizindikiro chafakitale
| Offset | Utali | Kufotokozera |
| 0 | 2 | Fakitale: (2 Byte) 0x00,0x10 |
Example
Communication protocol-information phukusi
Zathaview
| Mutu | Lidar Info | Zambiri za GPS |
| 42 bati | 768Bayiti | 74 bati |
Utali wa phukusi la data: 884 Bytes
Zindikirani: Nambala ya doko la phukusi lazidziwitso silingasinthidwe, madoko am'deralo ndi omwe akuwunikira onse ndi 9866
Tanthauzo la mutu
| Offset | Utali | Kufotokozera |
|
0 |
14 |
Efaneti II Kuphatikiza: Kopita MAC: (6 Byte) Sourse MAC: (6 Byte)
Mtundu: (2 Byte) |
|
14 |
20 |
Internet Protocol ikuphatikiza:
Mtundu & Utali Wamutu :(1 Byte) Gawo la Ntchito Zosiyana: (1 Byte) Utali Wonse:(2 Byte) Chizindikiritso: (2 Byte) |
| Mbendera: (1 Byte)
Fragment Offse: (1 Byte) Nthawi Yokhala ndi Moyo: (1 Byte) Protocol: (1 Byte) Checksum Yamutu: (2 Byte) Kopita IP: (4 Byte) IP Sour: (4 Byte) |
||
|
34 |
8 |
Mtumiki Datagram Protocol Ikuphatikizapo: Sourse Port: (2 Byte) Kopita Kopita: (2 Byte)
Utali wa Data: (2 Byte) Checksum: (2 Byte) |
Tanthauzo la Lidar Info
| Offset | Utali | Kufotokozera |
| 0 | 6 | Code Fakitala |
| 6 | 12 | Nambala ya Model |
| 18 | 12 | Nambala ya Series |
| 30 | 4 | Adilesi ya IP |
| 34 | 2 | Sourse Data Port |
| 36 | 4 | Malo a IP |
| 40 | 2 | Kopita Data Port |
| 42 | 6 | Source MAC |
| 48 | 2 | Liwiro Lagalimoto |
|
50 |
1 |
[7] Kulumikizana kwa GPS, 0: Kulumikizidwa, 1: Palibe kulumikizana [6] Mbendera yolakwika yozungulira 0: Yachizolowezi, 1: Zolakwika [5:0] Sungani |
|
51 |
1 |
GPS Yambitsani & Baud mlingo 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 | Reserve |
| 53 | 1 | Reserve |
| 54 | 2 | Kutentha kwapamwamba, DataX0.0625 ℃ |
| 56 | 2 | Pansi wozungulira Kutentha, DataX0.0625 ℃ |
| 58 | 2 | Reserve |
| 60 | 32 | CH0-CH15 Channel static offset |
| 92 | 4 | Reserve |
| 96 | 672 | Reserve |
| 768 | 74 | Zambiri za GPS |
Example
Kupanga protocol
Tsatirani protocol ya UDP, protocol yokhazikitsira ogwiritsa ntchito, makompyuta apamwamba amatumiza ma byte 8
| Dzina | Adilesi | Deta |
| Chiwerengero cha mabayiti | 2 bati | 6 bati |
| Adilesi | Dzina | Bite Tanthauzo [31:0] | |
| F000 | IP yakomweko | [47:16]=local_ip,[15:0] =local_doko | |
| F001 | IP yakutali | [31:0]=remote_ip，[15:0]= remote_port | |
|
F002 |
Kuthamanga, GPS imathandizira, kuchuluka kwa baud |
[47:32] =rom_speed_ctrl [31:24]=GPS_en 0x00 = kuchoka
0x01 = yathandizidwa ndipo kuchuluka kwa baud ndi 4800 0x02= kuthandizidwa ndipo kuchuluka kwa baud ndi 9600 0x03 = kuthandizidwa ndi 115200 baud rate [23:0] Wosungidwa |
|
| ExampLe: | |||
| IP Local ndi port | F0 00 C0 A8 01 64 09 40 | 192.168.1.100 2368 | |
| Target ip ndi port | F0 01 C0 A8 01 0A 09 40 | 192.168.1.10 2368 | |
| Liwiro lozungulira | F0 02 02 58 00 00 00 00 | liwiro 600 | |
ExampLe:
- IP Local ndi doko F0 00 C0 A8 01 64 09 40 192.168.1.100 2368
- Target ip ndi doko F0 01 C0 A8 01 0A 09 40 192.168.1.10 2368
- Liwiro lozungulira F0 02 02 58 00 00 00 00 liwiro 600
- Yambitsaninso 3D LiDAR nthawi iliyonse kusinthidwa kukamalizidwa.
- Liwiro lozungulira losankha: 300 kapena 600. mlingo wa baud wosankha: 4800/9600/115200.
Konzani kutembenuka
Zomwe zili mu phukusi la data la LR-16F ndi mtengo wa azimuth ndi mtengo wamtunda womwe unakhazikitsidwa mu dongosolo la polar coordinate. Ndizosavuta kupanga mawonekedwe amitundu itatu kudzera mu data yamtambo posintha mtengo wa polar coordinate kukhala dongosolo la Cartesian coordinate.
Miyezo yomwe ili pamwambapa yolingana ndi tchanelo chilichonse ikuwonetsedwa patebulo ili:
|
Channel# |
Ngongole yolunjika
(ω) |
Ngongole yopingasa
(α) |
Kutsika kopingasa
(A) |
Kutsika kolunjika
(B) |
| CH0 | -15° | α | 21 mm | 5.06 mm |
| CH1 | 1° | α+1*0.00108*H | 21 mm | -9.15 mm |
| CH2 | -13 | α+2*0.00108*H | 21 mm | 5.06 mm |
| CH3 | 3° | α+3*0.00108*H | 21 mm | -9.15 mm |
| CH4 | -11 | α+4*0.00108*H | 21 mm | 5.06 mm |
| CH5 | 5° | α+5*0.00108*H | 21 mm | -9.15 mm |
| CH6 | -9 | α+6*0.00108*H | 21 mm | 5.06 mm |
| CH7 | 7° | α+7*0.00108*H | 21 mm | -9.15 mm |
| CH8 | -7 | α+8*0.00108*H | -21 mm | 9.15 mm |
| CH9 | 9° | α+9*0.00108*H | -21 mm | -5.06 mm |
| CH10 | -5 | α+10*0.00108*H | -21 mm | 9.15 mm |
| CH11 | 11° | α+11*0.00108*H | -21 mm | -5.06 mm |
| CH12 | -3 | α+12*0.00108*H | -21 mm | 9.15 mm |
| CH13 | 13° | α+13*0.00108*H | -21 mm | -5.06 mm |
| CH14 | -1 | α+14*0.00108*H | -21 mm | 9.15 mm |
| CH15 | 15° | α+15*0.00108*H | -21 mm | -5.06 mm |
Zindikirani: Molondola mwachizolowezi, ngodya yopingasa α imangofunika kuwonjezera magawo omwe ali patebulo pamwambapa.
Njira yowerengera ya ma coordinates ndi
Matanthauzo:
- Kutulutsa mtunda woyezedwa ndi njira iliyonse ya LiDAR kumayikidwa ngati R. Dziwani kuti gawo la kulowetsa kwa LiDAR ndi 2mm, chonde sinthani kukhala 1mm poyamba.
- Liwiro lozungulira la LiDAR limayikidwa ngati H (nthawi zambiri 10Hz)
- Mbali yoyimirira ya njira iliyonse ya LiDAR imayikidwa ngati ω
- Kutuluka kwa ngodya yopingasa ndi LiDAR kumayikidwa ngati α
- Njira yopingasa ya njira iliyonse ya LiDAR imayikidwa ngati A
- Kutsika koyima kwa njira iliyonse ya LiDAR kumayikidwa ngati B
- Dongosolo logwirizanitsa malo panjira iliyonse ya LiDAR yakhazikitsidwa ku X, Y, Z
ZA COMPANY
- Morpheus Tek
- Web: www.morpheustek.com
- Imelo: sales@morpheustek.com
- TEL: (+86) 400 102 5850
Zolemba / Zothandizira
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OLEI LR-16F 3D LiDAR Sensor Communication Data Protocol [pdf] Buku Logwiritsa Ntchito LR-16F, 3D LiDAR Sensor Communication Data Protocol, Communication Data Protocol, 3D LiDAR Sensor, LiDAR Sensor, 3D LiDAR, Sensor, LiDAR |
