OLEI LR-16F 3D LiDAR Sensor Feso'ota'iga Fa'amatalaga Fa'amatalaga
Fa'amolemole faitau le tusi lesona lenei a'o le'i fa'aogaina le oloa mo le fa'atinoga o oloa sili ona lelei.
Ia mautinoa e teu lenei tusi lesona mo faʻamatalaga i le lumanaʻi.
Ituaiga Feso'ota'i
- Feso'ota'i: RJ-45 feso'ota'iga initaneti masani
- Polokalama fa'avae: UDP/IP standard internet protocol, Fa'amaumauga o lo'o i totonu o le laititi-endian format, fa'alalo le paita muamua
Fa'asologa o Fa'amaumauga
Ua umaview
O le umi atoa o se fa'amaumauga e 1248 paita, e aofia ai:
- Ulutala faavaa: 42 paita
- poloka fa'amaumauga: 12X(2+2+96) = 1,200 paita
- Taimi stamp: 4 Paita
- Faailoga falegaosimea: 2 Paita
Ulutala
| Offset | Umi | Fa'amatalaga |
|
0 |
14 |
Ethernet II e aofia ai: Fa'asinomaga MAC：(6 Paita) Sourse MAC：(6 Paita)
Ituaiga: (2 Byte) |
|
14 |
20 |
Initaneti Protocol e aofia ai:
Fa'aliliuga & Ulutala Umi :(1 Paita) Au'aunaga Eseese Field: (1 Paita) Aofa'i Umi:(2 Paita) Fa'ailoa: (2 Paita) Fu'a: (1 Byte) Pepa Fa'asoa: (1 Paita) Taimi e Ola ai: (1 Paita) Polokalama: (1 Paita) Su'ega Ulutala: (2 Paita) |
| Taulaga IP: (4 Paita)
IP oona: (4 Byte) |
||
|
34 |
8 |
Tagata fa'aoga Datagram Protocol e aofia ai: Sourse Port：(2 Byte) Destination Port: (2 Byte)
Umi o Fa'amatalaga:(2 Paita) Su'ega: (2 Paita) |
Fa'amatalaga poloka fa'amatalaga
O fa'amaumauga fa'afo'i mai leisa e aofia ai poloka fa'amaumauga e 12. O poloka faʻamaumauga taʻitasi e amata i le 2-byte faʻamatalaga 0xFFEE, sosoo ai ma le 2-byte azimuth angle ma le aofaʻi o 32 faʻamaumauga. O le lase toe fa'afo'i tau o ala ta'itasi o lo'o i ai le 2-byte mamao tau ma le 1-byte calibration reflectivity tau.
| Offset | Umi | Fa'amatalaga |
| 0 | 2 | Fu'a, e masani lava 0xFFEE |
| 2 | 2 | Fa'amatalaga Angle |
| 4 | 2 | Ch0 Fa'amatalaga Fa'asologa |
| 6 | 1 | Ch0 Faʻamatalaga Faʻamatalaga |
| 7 | 2 | Ch1 Fa'amatalaga Fa'asologa |
| 9 | 1 | Ch1 Faʻamatalaga Faʻamatalaga |
| 10 | 2 | Ch2 Fa'amatalaga Fa'asologa |
| 12 | 1 | Ch2 Faʻamatalaga Faʻamatalaga |
| – | – | – |
| 49 | 2 | Ch0 Fa'amatalaga Fa'asologa |
| 51 | 1 | Ch15 Faʻamatalaga Faʻamatalaga |
| 52 | 2 | Ch0 Fa'amatalaga Fa'asologa |
| 54 | 1 | Ch0 Faʻamatalaga Faʻamatalaga |
| 55 | 2 | Ch1 Fa'amatalaga Fa'asologa |
| 57 | 1 | Ch1 Faʻamatalaga Faʻamatalaga |
| 58 | 2 | Ch2 Fa'amatalaga Fa'asologa |
| 60 | 1 | Ch2 Faʻamatalaga Faʻamatalaga |
| – | – | – |
| 97 | 2 | Ch15 Fa'amatalaga Fa'asologa |
| 99 | 1 | Ch15 Faʻamatalaga Faʻamatalaga |
O le tulimanu fa'atutusa o lo'o fa'amatalaina e faapea:
| Laser ID | Tu'u sa'o |
| 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° |
Taimi stamp
| Offset | Umi | Fa'amatalaga |
|
0 |
4 |
Taimi talafeagaiamp [31:0]: [31:20] faitau o Sekona [19:0] faitau o Microsecond |
Faailoga falegaosimea
| Offset | Umi | Fa'amatalaga |
| 0 | 2 | Falegaosimea:(2 Byte)0x00,0x10 |
Example
Feso'ota'iga protocol-fa'amatalaga afifi
Ua umaview
| Ulutala | Lidar Fa'amatalaga | Fa'amatalaga GPS |
| 42 Paita | 768Paita | 74 Paita |
Umi ole afifi fa'amaumauga: 884 Paita
Fa'aaliga: Ole numera ole tau ole afifi fa'amatalaga e le mafai ona suia, ole pitonu'u fa'alotoifale ma le fa'amoemoe e 9866
Uiga o le ulutala
| Offset | Umi | Fa'amatalaga |
|
0 |
14 |
Ethernet II Fa'aaofia ai: Tulaga MAC：(6 Paita) Sourse MAC：(6 Paita)
Ituaiga: (2 Byte) |
|
14 |
20 |
Initaneti Protocol E aofia ai:
Fa'aliliuga & Ulutala Umi :(1 Paita) Au'aunaga Eseese Field: (1 Paita) Aofa'i Umi:(2 Paita) Fa'ailoa: (2 Paita) |
| Fu'a: (1 Byte)
Pepa Fa'asoa: (1 Paita) Taimi e Ola ai: (1 Paita) Polokalama: (1 Paita) Ulutala Su'ega: (2 Paita) Taulaga IP: (4 Paita) IP oona: (4 Byte) |
||
|
34 |
8 |
Tagata fa'aoga Datagram Protocol E aofia ai: Sourse Port：(2 Byte) Destination Port: (2 Byte)
Umi o Fa'amatalaga:(2 Paita) Su'ega: (2 Paita) |
Fa'amatalaga ole Lidar Info
| Offset | Umi | Fa'amatalaga |
| 0 | 6 | Fa'ailoga Falegaosi |
| 6 | 12 | Numera Fa'ata'ita'i |
| 18 | 12 | Numera Fa'asologa |
| 30 | 4 | IP leaga |
| 34 | 2 | Sourse Data Port |
| 36 | 4 | Taulaga IP |
| 40 | 2 | Taulaga o fa'amatalaga tau |
| 42 | 6 | Punavai MAC |
| 48 | 2 | Saosaoa afi |
|
50 |
1 |
[7] Feso'ota'iga GPS, 0: Feso'ota'i, 1: Leai se feso'ota'iga [6] Fu'a fa'aletonu pito i luga 0: masani, 1: Sese [5:0] Fa'asao |
|
51 |
1 |
GPS Enable & Baud rate 0x00:GPS GPS Power Off
0x01:GPS Malosiaga Ki, Baud fua 4800 0x02:GPS Malosiaga, Baud fua 9600 0x03:GPS Malosiaga Ki, Baud fua faatatau 115200 |
| 52 | 1 | Fa'asao |
| 53 | 1 | Fa'asao |
| 54 | 2 | Malosi o le matagaluega pito i luga, DataX0.0625℃ |
| 56 | 2 | Vaila'au pito i lalo Temperature, DataX0.0625℃ |
| 58 | 2 | Fa'asao |
| 60 | 32 | CH0-CH15 Alalaupapa fa'a'ese'ese |
| 92 | 4 | Fa'asao |
| 96 | 672 | Fa'asao |
| 768 | 74 | Fa'amatalaga GPS |
Example
Seti le protocol
Mulimuli i le UDP protocol, tagata fa'aoga seti protocol, komipiuta pito i luga e auina atu 8 paita
| Igoa | tuatusi | Fa'amaumauga |
| Numera o paita | 2 Paita | 6 Paita |
| tuatusi | Igoa | Fa'amatalaga Byte [31:0] | |
| F000 | IP fa'apitonu'u | [47:16]=local_ip，[15:0] =local_port | |
| F001 | IP maotua | [31:0]=mamao_ip，[15:0]= mamao_taulaga | |
|
F002 |
Saosaoa, GPS mafai, paud rate |
[47:32] =rom_speed_ctrl [31:24]=GPS_en 0x00 = tape
0x01 = mafai ma o le pa'u fua o le 4800 0x02= fa'agaoioia ma le pa'u fua o le 9600 0x03 = fa'aagaoioia ma le 115200 pa'u fua. [23:0]Faasao |
|
| ExampLe: | |||
| IP ma uafu i le lotoifale | F0 00 C0 A8 01 64 09 40 | 192.168.1.100 2368 | |
| Taulai ip ma le taulaga | F0 01 C0 A8 01 0A 09 40 | 192.168.1.10 2368 | |
| Saosaoa taamilo | F0 02 02 58 00 00 00 00 | saoasaoa 600 | |
ExampLe:
- IP fa'apitonu'u ma uafu F0 00 C0 A8 01 64 09 40 192.168.1.100 2368
- Target ip ma le uafu F0 01 C0 A8 01 0A 09 40 192.168.1.10 2368
- Saosaoa taamilo F0 02 02 58 00 00 00 00 saoasaoa 600
- Toe amata le 3D LiDAR i taimi uma e maeʻa ai le suiga.
- Saosaoa taamilo faitalia: 300 po o le 600. fua faatatau baud filifiliga:4800/9600/115200.
Faamaopoopo le liua
O faʻamatalaga i totonu o le pusa faʻamaumauga LR-16F o le azimuth tau ma le mamao o loʻo faʻavaeina i le polar coordinate system. E sili atu ona faigofie le fausiaina o vaaiga e tolu-dimensional e ala i le faʻamatalaga o le ao e ala i le faʻaliliuina o le tau faamaopoopo polar i le Cartesian coordinate system.
O tau o lo'o i luga e fetaui ma alalaupapa ta'itasi o lo'o fa'aalia i le siata lenei:
|
Auala# |
Tu'u sa'o
(ω) |
Itu fa'asaga
(a) |
Fa'asa'o fa'asaga
(A) |
Fa'asa'o tu'usa'o
(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 |
Fa'aaliga: I lalo o le sa'o masani, o le fa'alava fa'alava α na'o le mana'omia o le fa'atuputeleina o fa'amau i le laulau i luga.
Ole fua fa'atatau mo fa'asoa avanoa ole
Fa'amatalaga:
- O le fuaina o le mamao e maua mai i alalaupapa taʻitasi o le LiDAR ua setiina o le R. Manatua o le iunite o le LiDAR faʻaoga e 2mm, faʻamolemole liliu i le 1mm muamua
- Ole saoasaoa ole LiDAR ua setiina ile H (masani 10Hz)
- O le fa'ailoga tu'usa'o o laina ta'itasi o le LiDAR ua fa'atulaga e pei o le ω
- O le fa'ata'ita'iga fa'ata'ita'i fa'ata'ita'iga a le LiDAR o lo'o fa'atulagaina o le α
- O le laina fa'alava o laina ta'itasi o le LiDAR ua fa'atulagaina e pei o le A
- O le fa'asolo i luga o laina ta'itasi o le LiDAR ua fa'atulaga e pei o le B
- O le fa'aogaina fa'ava-o-malo ole auala ta'itasi ole LiDAR ua fa'atulaga ile X, Y, Z
E UIGA I KAMUPANI
- Morpheus Tek
- Web: www.morpheustek.com
- imeli: sales@morpheustek.com
- TEL: (+86) 400 102 5850
Pepa / Punaoa
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OLEI LR-16F 3D LiDAR Sensor Feso'ota'iga Fa'amatalaga Fa'amatalaga [pdf] Tusi Taiala LR-16F, 3D LiDAR Sensor Fesoʻotaʻiga Faʻamatalaga Faʻamatalaga, Fesoʻotaʻiga Faʻamatalaga Faʻamatalaga, 3D LiDAR Sensor, LiDAR Sensor, 3D LiDAR, Sensor, LiDAR |
