OLEI LR-16F 3D LiDAR Sensor Communication Data Protocol
Ndokumbira uverenge bhuku rino usati washandisa chigadzirwa kuti uite zvakanaka chigadzirwa.
Iva nechokwadi chekuchengeta bhuku rino rekushandisa mune ramangwana.
Mhando yeConnector
- Chibatanidza: RJ-45 yakajairika internet yekubatanidza
- Basic protocol: UDP/IP yakajairika internet protocol, Dhata iri mudiki-endian fomati, yakaderera byte kutanga
Data Packet Format
Overview
Hurefu hwese hwe data frame ndeye 1248 bytes, kusanganisira:
- Musoro weframe: 42 bytes
- Data block: 12X(2+2+96) = 1,200 bytes
- Nguva stamp: 4 Bytes
- Factory mark: 2 Bytes
Header
| Offset | Urefu | Tsanangudzo |
|
0 |
14 |
Ethernet II inosanganisira: Kwekuenda MAC:(6 Byte) Sourse MAC:(6 Byte)
Rudzi: (2 Byte) |
|
14 |
20 |
Internet Protocol inosanganisira:
Version & Header Length :(1 Byte) Differentiated Services Field: (1 Byte) Total Length:(2 Byte) Kuzivikanwa: (2 Byte) Mireza: (1 Byte) Fragment Offse: (1 Byte) Nguva Yekurarama: (1 Byte) Protocol: (1 Byte) Musoro Checksum: (2 Byte) |
| Nzvimbo IP: (4 Byte)
Sourse IP: (4 Byte) |
||
|
34 |
8 |
Mushandisi Dataggondohwe Protocol inosanganisira: Sourse Port: (2 Byte) Nzvimbo Yekuenda: (2 Byte)
Kureba Kwedata: (2 Byte) Checksum: (2 Byte) |
Data block tsanangudzo
Iyo laser yakadzosa data ine gumi nemaviri data block. Imwe neimwe data block inotanga ne 12-byte identifier 2xFFEE, ichiteverwa ne0-byte azimuth angle uye huwandu hwemakumi matatu nembiri mapoinzi. Iyo Lase yakadzoserwa kukosha kwega yega chiteshi ine 2-byte kureba kukosha uye 32-byte calibration yekuratidzira kukosha.
| Offset | Urefu | Tsanangudzo |
| 0 | 2 | Mureza, inogara iri 0xFFEE |
| 2 | 2 | Angle Data |
| 4 | 2 | Ch0 Ranging Data |
| 6 | 1 | Ch0 Reflectivity Data |
| 7 | 2 | Ch1 Ranging Data |
| 9 | 1 | Ch1 Reflectivity Data |
| 10 | 2 | Ch2 Ranging Data |
| 12 | 1 | Ch2 Reflectivity Data |
| – | – | – |
| 49 | 2 | Ch0 Ranging Data |
| 51 | 1 | Ch15 Reflectivity Data |
| 52 | 2 | Ch0 Ranging Data |
| 54 | 1 | Ch0 Reflectivity Data |
| 55 | 2 | Ch1 Ranging Data |
| 57 | 1 | Ch1 Reflectivity Data |
| 58 | 2 | Ch2 Ranging Data |
| 60 | 1 | Ch2 Reflectivity Data |
| – | – | – |
| 97 | 2 | Ch15 Ranging Data |
| 99 | 1 | Ch15 Reflectivity Data |
The vertical angle inotsanangurwa seinotevera:
| Laser ID | Vertical angle |
| 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° |
Nguva stamp
| Offset | Urefu | Tsanangudzo |
|
0 |
4 |
Nguvaamp [31:0]: [31:20] kuverenga kweSekondi [19:0] kuverenga kwe Microsecond |
Factory mark
| Offset | Urefu | Tsanangudzo |
| 0 | 2 | Fekitari:(2 Byte)0x00,0x10 |
Example
Communication protocol-information package
Overview
| Header | Lidar Info | GPS Info |
| 42 Bytes | 768Bytes | 74 Bytes |
Kureba kwepakeji yedata: 884 Bytes
Cherechedza: Nhamba yechiteshi chepakeji yeruzivo haigone kuchinjwa, nzvimbo dzemuno uye dzakanangwa zviteshi zvese zviri zviviri 9866
Tsanangudzo yemusoro
| Offset | Urefu | Tsanangudzo |
|
0 |
14 |
Ethernet II Inosanganisira: Kwekuenda MAC:(6 Byte) Sourse MAC:(6 Byte)
Rudzi: (2 Byte) |
|
14 |
20 |
Internet Protocol inosanganisira:
Version & Header Length :(1 Byte) Differentiated Services Field: (1 Byte) Total Length:(2 Byte) Kuzivikanwa: (2 Byte) |
| Mireza: (1 Byte)
Fragment Offse: (1 Byte) Nguva Yekurarama: (1 Byte) Protocol: (1 Byte) Header Checksum: (2 Byte) Nzvimbo IP: (4 Byte) Sourse IP: (4 Byte) |
||
|
34 |
8 |
Mushandisi Dataggondohwe Protocol Inosanganisira: Sourse Port: (2 Byte) Nzvimbo Yekuenda: (2 Byte)
Kureba Kwedata: (2 Byte) Checksum: (2 Byte) |
Tsanangudzo yeLidar Info
| Offset | Urefu | Tsanangudzo |
| 0 | 6 | Fekitori Kodhi |
| 6 | 12 | Model Number |
| 18 | 12 | Series Number |
| 30 | 4 | Sourse IP |
| 34 | 2 | Sourse data Port |
| 36 | 4 | Nzvimbo IP |
| 40 | 2 | Destination data Port |
| 42 | 6 | Kunobva MAC |
| 48 | 2 | Motor Speed |
|
50 |
1 |
[7] GPS Connection, 0: Yakabatanidzwa, 1: Hapana kubatana [6] Pamusoro wedunhu kukanganisa mureza 0: Zvakajairika, 1: Kukanganisa [5:0] Reserve |
|
51 |
1 |
GPS Inogonesa & Baud mwero 0x00: GPS GPS Simba Kudzima
0x01: GPS Simba Pa, Baud chiyero 4800 0x02: GPS Simba On, Baud chiyero 9600 0x03: GPS Simba On, Baud chiyero 115200 |
| 52 | 1 | Reserve |
| 53 | 1 | Reserve |
| 54 | 2 | Pamusoro redunhu Tembiricha, DataX0.0625 ℃ |
| 56 | 2 | Pazasi redunhu Tembiricha, DataX0.0625 ℃ |
| 58 | 2 | Reserve |
| 60 | 32 | CH0-CH15 Channel static offset |
| 92 | 4 | Reserve |
| 96 | 672 | Reserve |
| 768 | 74 | GPS Ruzivo |
Example
Gadzira iyo protocol
Tevedza iyo UDP protocol, mushandisi kuseta protocol, yekumusoro komputa inotumira 8 bytes
| Zita | Kero | Data |
| Nhamba yemabhaiti | 2 Bytes | 6 Bytes |
| Kero | Zita | Byte Tsanangudzo [31:0] | |
| F000 | Local IP | [47:16]=ip_yenzvimbo,[15:0] =chiteshi_yenzvimbo | |
| F001 | Kure IP | [31:0]=remote_ip，[15:0]=remote_port | |
|
F002 |
Kumhanya, GPS inogonesa, baud mwero |
[47:32] =rom_speed_ctrl [31:24]=GPS_en 0x00 = kudzima
0x01 = yakagoneswa uye iyo baud chiyero ndeye 4800 0x02 = yakagoneswa uye iyo baud chiyero ndeye 9600 0x03 = inogoneswa uye 115200 baud chiyero. [23:0] Zvakachengeterwa |
|
| Example: | |||
| Local ip uye port | F0 00 C0 A8 01 64 09 40 | 192.168.1.100 2368 | |
| Target ip uye port | F0 01 C0 A8 01 0A 09 40 | 192.168.1.10 2368 | |
| Kutenderera kumhanya | F0 02 02 58 00 00 00 00 | kumhanya 600 | |
Example:
- Local ip uye chiteshi F0 00 C0 A8 01 64 09 40 192.168.1.100 2368
- Target ip uye port F0 01 C0 A8 01 0A 09 40 192.168.1.10 2368
- Kutenderera kumhanya F0 02 02 58 00 00 00 00 kumhanya 600
- Tangazve iyo 3D LiDAR pese painogadziriswa.
- Optional kutenderera kumhanya: 300 kana 600. Optional baud rate:4800/9600/115200.
Coordinate kutendeuka
Ruzivo rwuri muLR-16F data package ndiyo azimuth kukosha uye kukosha kwechinhambwe kwakagadzwa mupolar coordinate system. Zviri nyore kugadzira matatu-dimensional chiitiko kuburikidza neiyo point Cloud data nekushandura polar coordination value kuCartesian coordinate system.
Hukoshi huri pamusoro hunoenderana nechiteshi chega chega hunoratidzwa mutafura inotevera:
|
Channel# |
Vertical angle
(ω) |
Horizontal angle
(α) |
Horizontal offset
(A) |
Vertical offset
(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 |
Cherechedza: Pasi peyakajairika, iyo yakatwasuka angle α inongoda kuwedzera ma paramita ari patafura iri pamusoro.
Iyo yekuverengera formula yenzvimbo inorongedzerwa ndeye
Tsanangudzo:
- Iyo yakayerwa nhambwe inobuda nemugero wega wega weLiDAR inoiswa seR. Ziva kuti iyo unit yeLiDAR yekuisa ndeye 2mm, ndapota shandura ku1mm kutanga.
- Kutenderera kumhanya kweLiDAR kwakaiswa seH (kazhinji 10Hz)
- Iyo yakatwasuka kona yenzira yega yega yeLiDAR yakaiswa se ω
- Iyo yakatwasuka kona inobuda neLiDAR yakaiswa se α
- Iyo yakachinjika yekumisikidza yega yega chiteshi cheLiDAR yakaiswa seA
- Iyo yakamira yakatwasuka yenzira yega yega yeLiDAR yakaiswa seB
- Iyo spatial coordinate system yeimwe neimwe chiteshi cheLiDAR yakaiswa kuX, Y, Z
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OLEI LR-16F 3D LiDAR Sensor Communication Data Protocol [pdf] User Manual LR-16F, 3D LiDAR Sensor Communication Data Protocol, Communication Data Protocol, 3D LiDAR Sensor, LiDAR Sensor, 3D LiDAR, Sensor, LiDAR |
