YDLIDAR GS2 KUDZIDZWA Linear Array Solid LiDAR Sensor

KUSHANDA MECHANISM

Mode
Iyo YDLIDAR GS2 (inozonzi GS2) sisitimu ine matatu ekushanda modhi: idle mode, scan mode, stop mode.

• Idle modhi: Kana GS2 ichibatidzwa, iyo yekusarudzika modhi ndeye idle mode. Mune idle modhi, iyo GS2's inotenderera unit haishande uye laser haina kujeka.
• Scan maitiro: Kana GS2 iri mu scanning mode, iyo inotenderera unit inobatidza laser. Kana iyo GS2 ikatanga kushanda, inoenderera sampLes mamiriro ekunze uye anoiburitsa munguva chaiyo mushure mekugadzirisa kumashure.
• Stop mode: Apo GS2 inomhanya nechikanganiso, sekushandura scanner, laser yakadzimwa, motokari haina kutenderera, etc.GS2 ichabva yadzima chikamu chekuyera kure uye mhinduro yekodhi yekodhi.

Kuyera Nheyo
GS2 ipfupi-renji yakasimba-state lidar ine huwandu hwe25-300mm. Iyo inonyanya kuumbwa nemutsara laser uye kamera. Mushure meiyo-line-laser inoburitsa mwenje welaser, inotorwa nekamera. Zvinoenderana neyakagadzika chimiro chelaser uye kamera, yakasanganiswa nemusimboti wekuyeresa nhanho yekuyera, tinogona kuverenga chinhambwe kubva pane chinhu kuenda kuGS2. Zvinoenderana neyakagadziriswa paramita yekamera, kukosha kwekona kwechinhu chakayerwa mu lidar coordinate system inogona kuzivikanwa. Nekuda kweizvozvo, tawana iyo yakazara kuyerwa data yechinhu chakayerwa.

Point O ndiko kwakabva macoordinates, nzvimbo yepepuru ndiyo kona ye view yekamera yekurudyi, uye nzvimbo yeorenji ndiyo kona ye view yekamera yekuruboshwe.

Iine mod punctuation seyakatanga kurongeka, kumberi ndiko kwakanangana neiyo coordination system 0 degree, uye kona inowedzera wachi. Kana gore repoindi rabuda, kurongeka kwedata (S1~S160) iri L1~L80, R1~R80. Iyo Angle uye chinhambwe chakaverengerwa ne SDK zvese zvinomiririrwa muhurongwa hwekubatanidza wachi.

SYSTEM COMMUNICATION

Kukurukurirana Mechanism
GS2 inotaurirana mirairo uye data nemidziyo yekunze kuburikidza neserial port. Kana mudziyo wekunze ukatumira system command ku GS2, GS2 inogadzirisa system command uye inodzosera inopindirana mhinduro meseji. Zvinoenderana nemirairo yemukati, GS2 inochinja inoenderana yekushanda mamiriro. Kubva pane zviri mukati memeseji, iyo yekunze sisitimu inogona kufambisa meseji uye kuwana iyo mhinduro data.

System Command
Iyo yekunze sisitimu inogona kuseta inoenderana yekushanda mamiriro eGS2 uye kutumira inoenderana data nekutumira yakabatana system mirairo. Iyo sisitimu yemirairo yakapihwa neGS2 ndeiyi inotevera:

CHART 1 YDLIDAR GS2 SYSTEM COMMAND

System command	Tsanangudzo	Mode switching	Mhinduro mode
0×60	Kuwana Kero Yemudziyo	Mira modhi	Mhinduro imwe chete
0×61	Kuwana mudziyo parameters	Mira modhi	Mhinduro imwe chete
0×62	Kuwana vhezheni Ruzivo	Mira modhi	Mhinduro imwe chete
0×63	Tanga kuongorora uye kuburitsa point Cloud data	Scan mode	Mhinduro inoenderera
0x64	Misa mudziyo, rega kuongorora	Mira modhi	Mhinduro imwe chete
0x67	Soft restart	/	Mhinduro imwe chete
0×68	Seta serial port baud rate	Mira modhi	Mhinduro imwe chete
0×69	Seta iyo yekumucheto modhi (anti-ruzha modhi)	Mira modhi	Mhinduro imwe chete

System Messages
Iyo sisitimu meseji ndeye mhinduro meseji iyo sisitimu inodyisa kumashure zvichibva pane yakagamuchirwa system command. Zvinoenderana neyakasiyana system mirairo, iyo yekupindura modhi uye yekupindura zvemukati meseji meseji zvakare zvakasiyana. Kune marudzi matatu emhando dzemhinduro: hapana mhinduro, mhinduro imwechete, mhinduro inoenderera.
Hapana mhinduro inoreva kuti iyo system haidzore chero meseji. Mhinduro imwe chete inoratidza kuti kureba kwemeseji yehurongwa, uye mhinduro inopera kamwe chete. Kana sisitimu ichikandwa nemidziyo yakawanda yeGS2, mimwe mirairo inogashira mhinduro kubva kune akawanda GS2 zvishandiso zvakatevedzana. Kuramba kupindurwa kunoreva kuti kureba kwemeseji yehurongwa uye inoda kutumira data nguva nenguva, senge pakupinda iyo scan mode.

Mhinduro imwechete, mhinduro dzakawanda uye inoenderera meseji yekupindura inoshandisa yakafanana data protocol. Zviri mukati meiyo protocol ndezvi: packet header, kero yemudziyo, rudzi rwepaketi, kureba kwedata, chikamu chedata uye cheki kodhi, uye zvinobuda kuburikidza ne serial port hexadecimal system.

CHART 2 YDLIDAR GS2 SCHEMATIC DIAGRAM YESYSTEM MESSAGE DATA PROTOCOL.

Packet header	Kero yemudziyo	Packet type	Urefu hwekupindura	Data chikamu	Tarisa kodhi
4 Bytes	1 Byte	1 Byte	2 Bytes	N Bytes	1 Byte

Byte offset

• Packet header: Iyo meseji packet header yeGS2 yakanyorwa 0xA5A5A5A5.
• Kero yemudziyo: GS2 kero yedhidhiyo, maererano nenhamba yecascade, yakakamurwa kuva: 0x01, 0x02, 0x04;
• Packet type: Ona chati 1 yemhando dzemirairo yehurongwa.
• Urefu hwemhinduro: Inomiririra kureba kwemhinduro
• Chikamu che data: Yakasiyana sisitimu mirairo inopindura kune dzakasiyana data zvemukati, uye yavo data protocol akasiyana.
• Tarisa kodhi: check code.

Cherechedza: Iyo GS2 data yekukurukurirana inotora iyo diki-endian modhi, yakaderera kurongeka kutanga.

DATA PROTOCOL

Tora iyo Device Kero Command
Kana mudziyo wekunze ukatumira uyu murairo kuGS2, GS2 inodzosera kero kero packet, meseji ndeiyi:

Mukudonha, kana N zvishandiso (kusvika ku3 zvakatsigirwa) zvakasungwa, murairo unodzosa N mhinduro pa0x01, 0x02, 0x04, inoenderana ne1-3 module zvakateerana.

Tsanangudzo: Kero yemodule 1 ndeye 0x01, module 2 ndeye 0x02, uye module 3 ndeye 0x04.

Tora Ruzivo rweRuzivo rweMurayiro
Kana chigadzirwa chekunze chinotumira scan scan ku GS2, GS2 inodzorera ruzivo rwayo. Mharidzo yemhinduro ndeiyi:

Panyaya ye cascading, kana N (maximum 3) madivayiri akabatanidzwa munhevedzano, uyu murairo unodzosera mhinduro dzeN, uko kero ndiyo kero yechishandiso chekupedzisira.
Nhamba yeshanduro ndeye 3 bytes kureba, uye nhamba yeSN ndeye 16 bytes kureba.

Tora Device Parameter Command
Kana mudziyo wekunze ukatumira uyu murairo kuGS2, GS2 inodzosa maparamita ayo, uye meseji inoti:

Mukudonha, kana N midziyo (kusvika ku3 inotsigirwa) yakasungwa, murairo unodzorera mhinduro dzeN, dzinoenderana nemiganhu yemudziyo wega wega.
Iyo K neB inogamuchirwa neprotocol ndeyeuint16 mhando, inoda kushandurwa kuita inoyangarara mhando uye yozopatsanurwa ne10000 isati yatsiviwa mukuverenga basa.

• d_compensateK0 = (kuyangarara)K0/10000.0f;
• d_compensateB0 = (kuyangarara)B0/10000.0f;
• d_compensateK1 = (kuyangarara)K1/10000.0f;
• d_compensateB1 = (kuyangarara)B1/10000.0f;

Bias ndeyemhando int8, inoda kushandurwa kuita inoyangarara mhando uye yakakamurwa negumi isati yatsiva mukuverenga basa.

• kurerekera = (kuyangarara)Kurerekera /10;

Command

Scan Command

Kana mudziyo wekunze uchitumira scan scan ku GS2, GS2 inopinda scan mode uye inoramba ichidyisa back point Cloud data. Iyo meseji inoti: Raira kutumirwa: (Tumira kero 0x00, cascade kana kwete, ichatanga zvese zvishandiso)

Raira ragamuchirwa: (Mune macascading cases, uyu murairo unongodzosa mhinduro imwe chete, uye kero ndiyo kero hombe, yeexample: No.3 mudziyo wakadhindwa, uye kero iri 0x04.)

Iyo data segment ndiyo point Cloud data yakaongororwa nesystem, iyo inotumirwa kune serial port mune hexadecimal kune yekunze mudziyo zvinoenderana neinotevera data chimiro. Kureba kwepaketi yese ndeye 322 Bytes, kusanganisira 2 Bytes yedata yezvakatipoteredza uye 160 inotangira mapoinzi (S1-S160), imwe neimwe iri 2 Bytes, ekumusoro 7 bits isimba data, uye ezasi 9 bits idhata renhambwe. . Iyo unit ndeye mm.

Stop Command

Kana sisitimu iri mukutarisa, GS2 yanga ichitumira point Cloud data kune kunze kwenyika. Kuti udzime scanning panguva ino, tumira uyu murairo kuti umise kuongorora. Mushure mekutumira iyo yekumisa kuraira, iyo module inopindura kune yekupindura kuraira, uye sisitimu ichapinda yekumira yekurara mamiriro nekukasira. Panguva ino, iyo yekutenderera unit yechishandiso iri mune yakaderera simba rekushandisa modhi, uye laser inodzimwa.

• Raira kutumira: (tumira kero 0x00, zvisinei kuti inodonha kana kwete, zvishandiso zvese zvichavharwa).

Panyaya yekudonha, kana N (maximum 3) zvishandiso zvakabatana munhevedzano, uyu murairo unongodzosa mhinduro, uko kero iri kero yechishandiso chekupedzisira, chekare.ample: kana 3 zvishandiso zvakakandwa, iyo kero ndeye 0x04.

Isa iyo Baud Rate Command

Kana mudziyo wekunze ukatumira uyu murairo kuGS2, iyo yakabuda baud mwero weGS2 inogona kusetwa.

• Murayiro wakatumirwa: (kutumira kero 0x00, inotsigira chete kuseta chiyero chebaud cheese maturusi emidziyo kuti ive yakafanana), meseji ndeye:

Pakati pavo, chikamu che data ndeye baud rate parameter, kusanganisira mana baud rates (bps), zvichiteerana: 230400, 512000, 921600, 1500000 inoenderana nekodhi 0-3 (chinyorwa: matatu-module serial yekubatanidza inofanirwa kunge iri ≥921600, iyo default ndeye 921600).

Panyaya ye cascading, kana N midziyo (yakanyanya kutsigirwa 3) zvishandiso zvakabatanidzwa munhevedzano, murairo uchadzorera mhinduro dzeN, dzinoenderana nemiganhu yemudziyo wega wega, uye kero dzinoti: 0x01, 0x02, 0x04.

• Mushure mekuisa iyo baud mwero, inoda kupfava kutangazve mudziyo.

Seta Iyo Edge Mode (Yakasimba anti-jamming mode)
Apo chigadzirwa chekunze chinotumira murairo uyu kune GS2, iyo anti-jamming mode yeGS2 inogona kuiswa.

• Raira kutumira: (kutumira kero, cascade kero), meseji inoti:

raira kugamuchira

Kero ndiyo kero yemodule inoda kugadziridzwa mucascade link. Mode = 0 inoenderana neyakajairwa modhi, Modhi = 1 inoenderana nemupendero modhi (chigadziko chakatarisana kumusoro), Modhi = 2 inoenderana nemupendero modhi (chigadziko chakatarisana pasi). Mumupendero modhi, iyo yakagadziriswa kubuda kwe lidar ndeye 10HZ, uye kusefa kwe ambient mwenje kuchawedzerwa. Mode=0XFF zvinoreva kuverenga, lidar inodzokera kune yazvino modhi. Lidar inoshanda mune yakajairwa modhi nekukasira.

• Seta module 1: Kero =0x01
• Seta module 2: Kero =0x02
• Seta module 3: Kero =0x04

System Reset Command
Kana mudziyo wekunze uchitumira uyu murairo kuGS2, GS2 ichapinda munyoro restart, uye sisitimu ichagadzirisa uye kutangazve.
Raira kutumira: (kutumira kero, inogona kungova iyo chaiyo yakabatanidzwa kero: 0x01/0x02/0x04)

Kero ndiyo kero yemodule inoda kugadziridzwa mucascade link.

• Reset module 1: Kero =0x01
• Reset module 2: Kero =0x02
• Reset module 3: Kero =0x04

DATA ANALYSIS

CHART 3 DATA STRUCTURE DESCRIPTION

Content	Zita	Tsanangudzo
K0(2B)	Midziyo yemidziyo	(uint16) Pakona yekamera yekuruboshwe k0 coefficient (ona chikamu 3.3)
B0(2B)	Midziyo yemidziyo	(uint16) Pakona yekamera yekuruboshwe k0 coefficient (ona chikamu 3.3)
K1(2B)	Midziyo yemidziyo	(uint16) Iyo yekurudyi yekona yekamera paramita k1 coefficient (ona chikamu 3.3)
B1(2B)	Midziyo yemidziyo	(uint16) Iyo yekurudyi yekona yekamera paramita b1 coefficient (ona chikamu 3.3)
kutsvetera	Midziyo yemidziyo	(int8) Ikozvino kamera angle parameter bias coefficient (ona chikamu 3.3)
ENV(2B)	Data yezvakatipoteredza	Ambient mwenje kusimba
Si(2B)	Data yekuyera kureba	Iwo epasi 9 bits ndiwo chinhambwe, epamusoro 7 bits ndiwo akanyanya kukosha

• Distance analysis
  Distance calculation formula: Distance = (_ ≪ 8|_) &0x01ff, unit iri mm.
  Simba kuverenga: Hunhu = _ ≫ 1
• Kuongorora kwekona
  Iyo nzira yekubuda kwelaser inotorwa semberi kwe sensor, fungidziro ye laser denderedzwa centre paPCB ndege inotorwa semabviro ezvirongwa, uye polar coordination system inomiswa neyakajairwa mutsara wePCB ndege se. iyo 0-degree direction. Kutevera nzira yewachi, kona inowedzera zvishoma nezvishoma.

Kuti uchinje iyo yekutanga data inofambiswa neLidar kune iyo yekubatanidza sisitimu mumufananidzo uri pamusoro, nhevedzano yekuverenga inodiwa. Basa rekushandura rakadai (kuti uwane ruzivo, ndapota tarisa kune SDK):

Tarisa kuongorora kwekodhi
Iyo cheki kodhi inoshandisa imwe-byte kuunganidza kutarisa yazvino data packet. Iyo mana-byte packet musoro uye cheki kodhi pachayo haitore chikamu mukuita cheki. Cheki kodhi mhinduro formula ndeiyi:

• CheckSum = ADD1()
• = 1,2, ... ,

ADD1 ndiyo nzira yekuwedzera, zvinoreva kuunganidza nhamba kubva pakunyorera 1 kusvika kumagumo muchinhu.

OTA UPGRADE

Simudzira Workflow

Send Protocol

CHART 4 ​​OTA DATA PROTOCOL FORMAT (DIKI ENDIAN)

Parameter	Kureba (BYTE)	Tsanangudzo
Packet_Header	4	Data packet header, yakagadziriswa seA5A5A5A5
Mudziyo_Kero	1	Inotsanangura kero yemudziyo
Pack_ID	1	Data packet ID (rudzi rwedata)

Data_Len	2	Kureba kwedata kwechikamu chedata, 0-82
Data	n	Data, n = Data_Len
Check_Sm	1	Checksum, iyo checksum yemabheti asara mushure mekunge musoro wabviswa

CHART 5 OTA UPGRADE MIrairo

Instruction type	Pack_ID	Tsanangudzo
Tanga_IAP	0x0A	Tumira uyu murairo kuti utange IAP mushure mesimba
Running_IAP	0x0B	Mhanya IAP, tumira mapaketi
Complete_IAP	0x0C	Kupera kweIAP
ACK_IAP	0x20	IAP mhinduro
RESET_SYSTEM	0x67	Reset uye tangazve module pane yakataurwa kero

Kutanga_IAP Murairo

Raira kutumira

• Data segment Data format:
• Data[0~1]: Iyo yakasarudzika ndeye 0x00;
• DATA[2~17]: Iyo yakagadziriswa hunhu kodhi kodhi:
• 0x73 0x74 0x61 0x72 0x74 0x20 0x64 0x6F 0x77 0x6E 0x6C 0x6F 0x61 0x64 0x00 0x00
• Tarisa kutumira meseji
• A5 A5 A5 A5 01 0A 12 00 00 00 73 74 61 72 74 20 64 6F 77 6E 6C 6F 61 64 00 00 C3

Command reception: Nekuda kweFlash sector mashandiro, kunonoka kudzoka kwakareba uye kunochinja pakati pe80ms ne700ms)

Gamuchira data format

• Kero: iyo module kero;
• ACK: Iyo yakasarudzika ndeye 0x20, zvichiratidza kuti data packet ipakiti yekubvuma; Data[0~1]: Iyo yakasarudzika ndeye 0x00;
• Data[2]: 0x0A inoratidza kuti mhinduro yekuraira ndeye 0x0A;
• Data[3]: 0x01 inoratidza kugamuchirwa kwakajairika, 0 inoratidza kugamuchirwa kusina kujairika;
• Reference yekugamuchira:
  A5 A5 A5 A5 01 20 04 00 00 00 0A 01 30

Running_IAP Instruction

Raira kutumira

Iyo firmware ichapatsanurwa panguva yekusimudzira, uye maviri ekutanga mabyte echikamu che data (Data) anoratidza kubviswa kwechikamu ichi che data maererano neiyo yekutanga byte ye firmware.

• Data[0~1]:Package_Shift = Data[0]+ Data[1]*256;
• Data[2]~Data[17]: ikodhi yakagadziriswa tambo yekusimbisa:
• 0x64 0x6F 0x77 0x6E 0x6C 0x6F 0x61 0x64 0x69 0x6E 0x67 0x00 0x00 0x00 0x00 0x00 Data[18]~Data[81]: firmware data;
• Tarisa kutumira meseji
• A5 A5 A5 A5 01 0B 52 00 00 00 64 6F 77 6E 6C 6F 61 64 69 6E 67 00 00 00 00 00 +
  (Data[18]~Data[81]) + Check_Sum

Raira kugamuchira

• Kero: is iyo module kero;
• ACK: Iyo yakasarudzika ndeye 0x20, zvichiratidza kuti data packet ipakiti yekubvuma;

Data[0~1] : Package_Shift = Dhata[0]+ Dhata[1]*256 inoratidza firmware data offset yemhinduro. Inokurudzirwa kutonga iyo yekubvisa senzira yekudzivirira kana uchinge waona mhinduro panguva yekusimudzira maitiro.

• Data[2]=0x0B inoratidza kuti murairo wekupindura 0x0B;
• Data[3]=0x01 inoratidza kugashira kwakajairwa, 0 inoratidza kugashira kusina kujairika;

Reference to receive
A5 A5 A5 A5 01 20 04 00 00 00 0B 01 31

Complete_IAP Instruction

Raira kutumira

• Data[0~1]: Iyo yakasarudzika ndeye 0x00;
• Data[2]~Data[17]: Iyo yakagadziriswa tambo yekusimbisa kodhi:
  0x63 0x6F 0x6D 0x70 0x6C 0x65 0x74 0x65 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00

Data[18]~Data[21]: encryption flag, uint32_t type, encrypted firmware is 1, non-encrypted firmware is 0;

Tarisa kutumira meseji:
A5 A5 A5 A5 01 0C 16 00 00 00 63 6F 6D 70 6C 65 74 65 00 00 00 00 00 00 00 00 + (uint32_t encryption mureza) + Check_Sum

Raira kugamuchira

• Gamuchira data format:
• Kero: ndiyo kero yemodule;
• ACK: Iyo yakasarudzika ndeye 0x20, zvichiratidza kuti data packet ipakiti yekubvuma;
• Data[0~1]: Iyo yakasarudzika ndeye 0x00;
• Data[2]: 0x0C inoratidza kuti mhinduro yekuraira ndeye 0x0C;
• Data[3]: 0x01 inoratidza kugamuchirwa kwakajairika, 0 inoratidza kugamuchirwa kusina kujairika;
• Tarisa kune meseji yakagamuchirwa:
  A5 A5 A5 A5 01 20 04 00 00 00 0C 01 32

RESET_SYSTEM Instruction
Ndokumbira utarise kuChitsauko 3.8 System Reset Command kuti uwane ruzivo.

Q&A

• Mubvunzo: Nzira yekutonga sei kugadzirisa kunobudirira mushure mekutumira murairo wekugadzirisa? Kunonoka kunodiwa here?
  • A: Kuitwa kwakabudirira kunogona kutongwa maererano nemhinduro yepakiti ye reset command; zvinokurudzirwa kuwedzera kunonoka kwe500ms mushure mekugamuchira mhinduro musati maita mabasa anotevera.
• Q: Module 4 inogamuchira imwe serial port data isingaenderane neprotocol mushure mekugadzirisazve, maitiro ekuita nayo?
  • A: Simba-parogi yemodule tambo yeASCII data ine 4 0x3E misoro, iyo isingakanganisi yakajairika data parsing ine 4 0xA5 misoro, uye inogona kufuratirwa. Pamusana pekubatana kwemuviri, matanda eNo. 1 uye No. 2 modules haagoni kugamuchirwa.
• Q: Maitiro ekuita kana iyo yekuvandudza maitiro ichikanganiswa nekutadza kwemagetsi uye kutangazve?
  • A: Tumira zvakare iyo Start_IAP kuraira kuti uvandudze zvakare.
• Mubvunzo: Chii chingave chikonzero cheiyo abnormal kusimudzira basa mu cascade state?
  • A: Simbisa kana chinongedzo chemuviri chakarurama, sekunge iyo point Cloud data yemamodule matatu inogona kugamuchirwa;
  • Simbisa kuti makero emamodule matatu haapesane, uye unogona kuedza kugoverazve kero;
  • Reset module kuti ikwidziridzwe uye wozotangazve kuedza;
• Q: Sei iyo yekuverenga vhezheni nhamba 0 mushure mekukwidziridzwa kwecascade?
  • A: Zvinoreva kuti kukwidziridzwa kwemodule hakuna kubudirira, vashandisi vanofanirwa kusetazve module uye vozosimudzira zvakare.

ATTENTION

1. Panguva yekudyidzana kwemirairo neGS2, kunze kweiyo stop scan command, mimwe mirairo haigone kupindirana mu scan mode, iyo inogona kutungamira nyore kune meseji zvikanganiso.
2. GS2 haizongotanga kubva kana simba richinge rabatidzwa. Inoda kutumira yekutanga scan scan kuti uise iyo scan mode. Paunenge uchifanirwa kumira kutenderera, tumira yekumira scan yekumira kuti umise kuongorora uye pinda yekurara mode.
3. Tanga GS2 kazhinji, maitiro edu anokurudzirwa ndeaya:
   Danho rekutanga:
   tumira iyo Get Device Kero kuraira kuti utore kero yechishandiso chazvino uye nhamba yemacascade, uye gadzirisa kero;
   Danho rechipiri:
   tumira iyo get version command kuti uwane nhamba yevhezheni;
   Danho rechitatu:
   tumira murairo kuti uwane ma parameter emudziyo kuti uwane mapeji ekona echigadzirwa chekuongorora data;
   Danho rechina:
   tumira yekutanga scan scan kuti uwane point Cloud data.
4. Mazano ekugadzirwa kwezvinhu zvinofambisa chiedza zveGS2 mahwindo ekuona:
   Kana iyo yekumberi yekuvhara yekuona hwindo yakagadzirirwa GS2, inokurudzirwa kushandisa infrared-permeable PC seyakajeka-inotapurirana zvinhu, uye nzvimbo yekufambisa-mwenje inodiwa kuti ive yakati sandara (flatness ≤0.05mm), uye nzvimbo dzese mu ndege inofanirwa kuve yakajeka mu780nm kusvika 1000nm bhendi. Chiyero chechiedza chikuru kupfuura 90%.
5. Iyo yakakurudzirwa mashandiro ekuita yekudzokorodza kushandura GS2 nekudzima pabhodhi rekufamba:
   Kuti uderedze simba rekushandisa kwebhodhi rekufambisa, kana GS2 ichida kuvharwa uye kuvharwa kakawanda, zvinokurudzirwa kutumira stop scan command (ona chikamu 3.5) usati wadzima, wozogadzirisa TX uye RX ye navigation board kune yakakwira impedance. Wobva wadhonza VCC yakaderera kuti uidzima. Nguva inotevera painobatidzwa simba, tanga wadhonza VCC, wozogadzirisa TX neRX seyakajairwa kubuda uye kupinza nyika, uyezve mushure mekunonoka kwe300ms, ita kuraira kupindirana nemutsara laser.
6. Nezve iyo yakanyanya kumirira nguva mushure meumwe neumwe GS2 murairo watumirwa:
   • Tora kero: kunonoka 800ms, tora shanduro: kunonoka 100ms;
   • Wana paramita: kunonoka 100ms, tanga kuongorora: kunonoka 400ms;
   • Rega kuongorora: kunonoka 100ms, isa baud rate: kunonoka 800ms;
   • Seta edge mode: kunonoka 800ms, tanga OTA: kunonoka 800ms;

DZOKORORA

Date	Version	Content
2019-04-24	1.0	Nyora chinyorwa chekutanga
2021-11-08	1.1	Gadzirisa (Shandura iyo protocol framework kuti ubatanidze kuruboshwe uye kurudyi kamera data; Mazano ekuwedzera maonero ewindo rezvinhu; Kuwedzera chiyero chebaud kuseta command)
2022-01-05	1.2	Shandura tsananguro yekugamuchira yekuraira kuti uwane kero yemuchina, uye tsananguro yekamera yekuruboshwe nekurudyi
2022-01-12	1.3	Wedzera kumucheto modhi, kuwedzera K, B, BIAS tsananguro yekuverenga
2022-04-29	1.4	Shandura tsananguro yechitsauko 3.2: Wana Version Information Command
2022-05-01	1.5	Shandura iyo kero yekumisikidza nzira yeiyo yakapfava restart command
2022-05-31	1.6	1) Gadzirisa chikamu 3.7 2) Chikamu 3.8 RESET command inowedzera mhinduro imwechete 3) Yakawedzera Chitsauko 5 OTA kusimudzira
2022-06-02	1.6.1	1) Shandura iyo OTA kusimudzira mafambiro 2) Shandura iyo Q&A yeOTA

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Zvinyorwa / Zvishandiso

YDLIDAR GS2 KUDZIDZWA Linear Array Solid LiDAR Sensor [pdf] User Manual GS2 DEVELOPMENT Linear Array Solid LiDAR Sensor, GS2 DEVELOPMENT, Linear Array Solid LiDAR Sensor, Array Solid LiDAR Sensor, Solid LiDAR Sensor, LiDAR Sensor, Sensor

References

• User Manual