OLEI LR-16F 3D LiDAR Sensor Communication Data Protocol
Ka kopo bala bukana ena pele u sebelisa sehlahisoa bakeng sa ts'ebetso e ntle ka ho fetisisa ea sehlahisoa.
Etsa bonnete ba hore u boloka bukana ena bakeng sa tšebeliso ea nako e tlang.
Mofuta oa Sehokelo
- Sehokelo: RJ-45 sehokelo se tloaelehileng sa Marang-rang
- Protocol ea mantlha: Protocol e tloaelehileng ea inthanete ea UDP/IP, Lintlha li ka sebopeho se senyenyane, li-byte tse tlase pele
Sebopeho sa Pakete ea data
Fetileview
Bolelele bohle ba foreimi ea data ke li-byte tse 1248, ho kenyelletsa:
- Hlooho ea foreime: 42 li-byte
- Thibelo ea lintlha: 12X(2+2+96) = 1,200 byte
- Nako stamp: Li-byte tse 4
- Letšoao la feme: 2 Byte
Hlooho
| Offset | Bolelele | Tlhaloso |
|
0 |
14 |
Ethernet II e kenyelletsa: Sebaka sa MAC:(6 Byte) Sourse MAC:(6 Byte)
Mofuta: (2 Byte) |
|
14 |
20 |
Internet Protocol e kenyelletsa:
Version & Header Length :(1 Byte) Differentiated Services Field: (1 Byte) Total Length:(2 Byte) Boitsebiso: (2 Byte) Lifolakha: (1 Byte) Fragment Offse: (1 Byte) Nako ea ho Phela: (1 Byte) Protocol: (1 Byte) Checksum ea Hlooho: (2 Byte) |
| IP ea sebaka: (4 Byte)
Sebaka sa IP: (4 Byte) |
||
|
34 |
8 |
Mosebelisi Datagram Protocol e kenyelletsa: Sourse Port:(2 Byte) Boema-kepe ba ho ea: (2 Byte)
Bolelele ba Lintlha: (2 Byte) Chelete: (2 Byte) |
Tlhaloso ea "data block".
Lintlha tse khutlisitsoeng ka laser li na le li-block tsa data tse 12. Sebaka se seng le se seng sa data se qala ka 2-byte identifier 0xFFEE, e lateloa ke 2-byte azimuth angle le kakaretso ea lintlha tse 32 tsa data. Theko e khutlisitsoeng ea Lase ea mocha ka mong e na le boleng ba sebaka sa 2-byte le boleng ba 1-byte calibration reflectivity.
| Offset | Bolelele | Tlhaloso |
| 0 | 2 | Tlaleha, e lula e le 0xFFEE |
| 2 | 2 | Lintlha tsa Angle |
| 4 | 2 | Lintlha tsa Ch0 Range |
| 6 | 1 | Lintlha tsa Ch0 Reflectivity |
| 7 | 2 | Lintlha tsa Ch1 Range |
| 9 | 1 | Lintlha tsa Ch1 Reflectivity |
| 10 | 2 | Lintlha tsa Ch2 Range |
| 12 | 1 | Lintlha tsa Ch2 Reflectivity |
| – | – | – |
| 49 | 2 | Lintlha tsa Ch0 Range |
| 51 | 1 | Lintlha tsa Ch15 Reflectivity |
| 52 | 2 | Lintlha tsa Ch0 Range |
| 54 | 1 | Lintlha tsa Ch0 Reflectivity |
| 55 | 2 | Lintlha tsa Ch1 Range |
| 57 | 1 | Lintlha tsa Ch1 Reflectivity |
| 58 | 2 | Lintlha tsa Ch2 Range |
| 60 | 1 | Lintlha tsa Ch2 Reflectivity |
| – | – | – |
| 97 | 2 | Lintlha tsa Ch15 Range |
| 99 | 1 | Lintlha tsa Ch15 Reflectivity |
The angle angle e hlalosoa ka tsela e latelang:
| Laser ID | Lekhutlo le Otlolohileng |
| 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° |
Nako stamp
| Offset | Bolelele | Tlhaloso |
|
0 |
4 |
Nakoamp [31:0]: [31:20] palo ea Metsotsoana [19:0] palo ea Microsecond |
Letšoao la feme
| Offset | Bolelele | Tlhaloso |
| 0 | 2 | Feme:(2 Byte)0x00,0x10 |
Example
Sephutheloana sa tlhahisoleseling ea protocol
Fetileview
| Hlooho | Lidar Info | Lintlha tsa GPS |
| 42 Byte | 768Bytes | 74 Byte |
Bolelele ba sephutheloana sa data: 884 Bytes
Hlokomela: Nomoro ea boema-kepe ea sephutheloana sa tlhahisoleseling e ke ke ea fetoloa, likou tsa lehae le tse shebiloeng ke 9866 ka bobeli
Tlhaloso ea hlooho
| Offset | Bolelele | Tlhaloso |
|
0 |
14 |
Ethernet II E kenyelletsa: Sebaka sa MAC:(6 Byte) Sourse MAC:(6 Byte)
Mofuta: (2 Byte) |
|
14 |
20 |
Internet Protocol e kenyeletsa:
Version & Header Length :(1 Byte) Differentiated Services Field: (1 Byte) Total Length:(2 Byte) Boitsebiso: (2 Byte) |
| Lifolakha: (1 Byte)
Fragment Offse: (1 Byte) Nako ea ho Phela: (1 Byte) Protocol: (1 Byte) Header Checksum: (2 Byte) IP ea moo e eang: (4 Byte) Sebaka sa IP: (4 Byte) |
||
|
34 |
8 |
Mosebelisi Datagram Protocol Kenyelletsa: Sourse Port:(2 Byte) Boema-kepe: (2 Byte)
Bolelele ba Lintlha: (2 Byte) Chelete: (2 Byte) |
Tlhaloso ea Lidar Info
| Offset | Bolelele | Tlhaloso |
| 0 | 6 | Khoutu ea Fektheri |
| 6 | 12 | Nomoro ea Mohlala |
| 18 | 12 | Nomoro ea letoto |
| 30 | 4 | IP e bonolo |
| 34 | 2 | Sourse data Port |
| 36 | 4 | Sebaka sa IP |
| 40 | 2 | Boema-kepe ba data |
| 42 | 6 | Mohloli oa MAC |
| 48 | 2 | Lebelo la makoloi |
|
50 |
1 |
[7] GPS Connection, 0: Connected, 1: No connection [6] Top circuit error folakha 0: Tloaelehileng, 1: Error [5:0] Reserve |
|
51 |
1 |
GPS Enable & Baud rate 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 | Mocheso o phahameng oa potoloho, DataX0.0625 ℃ |
| 56 | 2 | Mocheso o ka tlaase oa potoloho, DataX0.0625 ℃ |
| 58 | 2 | Reserve |
| 60 | 32 | CH0-CH15 Channel static offset |
| 92 | 4 | Reserve |
| 96 | 672 | Reserve |
| 768 | 74 | Tlhahisoleseling ea GPS |
Example
Kenya protocol
Latela protocol ea UDP, protocol ea ho seta mosebelisi, komporo e holimo e romella li-byte tse 8
| Lebitso | Aterese | Lintlha |
| Nomoro ea li-byte | 2 Byte | 6 Byte |
| Aterese | Lebitso | Byte Tlhaloso [31:0] | |
| F000 | IP ea lehae | [47:16]=local_ip，[15:0] =local_port | |
| F001 | IP e hole | [31:0]=remote_ip，[15:0]= remote_port | |
|
F002 |
Lebelo, GPS thusa, sekhahla sa baud |
[47:32] =rom_speed_ctrl [31:24]=GPS_en 0x00 = tima
0x01 = e nolofalitsoe mme sekhahla sa baud ke 4800 0x02= se nolofalitsoe mme sekhahla sa baud ke 9600 0x03 = se nolofalitsoe le sekhahla sa baud sa 115200 [23:0] E boloketsoe |
|
| ExampLe: | |||
| IP ea lehae le boema-kepe | F0 00 C0 A8 01 64 09 40 | 192.168.1.100 2368 | |
| IP e reriloeng le port | F0 01 C0 A8 01 0A 09 40 | 192.168.1.10 2368 | |
| Lebelo le potolohang | F0 02 02 58 00 00 00 00 | lebelo 600 | |
ExampLe:
- IP ea lehae le boema-kepe F0 00 C0 A8 01 64 09 40 192.168.1.100 2368
- IP e reriloeng le boema-kepe F0 01 C0 A8 01 0A 09 40 192.168.1.10 2368
- Lebelo le potolohang F0 02 02 58 00 00 00 00 lebelo 600
- Qala hape 3D LiDAR nako le nako ha tokiso e phetheloa.
- Lebelo le pota-potileng ka boikhethelo: 300 kapa 600. sekhahla sa boikhethelo ba baud: 4800/9600/115200 .
Kopanya phetoho
Lintlha tse ka har'a sephutheloana sa data sa LR-16F ke boleng ba azimuth le boleng ba sebaka se thehiloeng polar coordinate system. Ho bonolo haholoanyane ho theha sebaka sa likarolo tse tharo ka data ea maru ka ho fetolela boleng ba polar coordinate ho sistimi ea coordinate ea Cartesian.
Lintlha tse ka holimo tse tsamaellanang le kanale ka 'ngoe li bonts'oa tafoleng e latelang:
|
Channel# |
Nnyo e otlolohileng
(ω) |
Sekhutlo se otlolohileng
(α) |
Horizontal offset
(A) |
Thepa e otlolohileng
(B) |
| CH0 | -15 ° | α | 21 limilimithara | 5.06 limilimithara |
| CH1 | 1° | α+1*0.00108*H | 21 limilimithara | -9.15 limilimithara |
| CH2 | -13 | α+2*0.00108*H | 21 limilimithara | 5.06 limilimithara |
| CH3 | 3° | α+3*0.00108*H | 21 limilimithara | -9.15 limilimithara |
| CH4 | -11 | α+4*0.00108*H | 21 limilimithara | 5.06 limilimithara |
| CH5 | 5° | α+5*0.00108*H | 21 limilimithara | -9.15 limilimithara |
| CH6 | -9 | α+6*0.00108*H | 21 limilimithara | 5.06 limilimithara |
| CH7 | 7° | α+7*0.00108*H | 21 limilimithara | -9.15 limilimithara |
| CH8 | -7 | α+8*0.00108*H | -21 limilimithara | 9.15 limilimithara |
| CH9 | 9° | α+9*0.00108*H | -21 limilimithara | -5.06 limilimithara |
| CH10 | -5 | α+10*0.00108*H | -21 limilimithara | 9.15 limilimithara |
| CH11 | 11° | α+11*0.00108*H | -21 limilimithara | -5.06 limilimithara |
| CH12 | -3 | α+12*0.00108*H | -21 limilimithara | 9.15 limilimithara |
| CH13 | 13° | α+13*0.00108*H | -21 limilimithara | -5.06 limilimithara |
| CH14 | -1 | α+14*0.00108*H | -21 limilimithara | 9.15 limilimithara |
| CH15 | 15° | α+15*0.00108*H | -21 limilimithara | -5.06 limilimithara |
Hlokomela: Tlas'a ho nepahala ho tloaelehileng, angle e otlolohileng α e hloka feela ho eketsa litekanyetso tse tafoleng e ka holimo.
Mokhoa oa ho bala oa lihokahanyi tsa sebaka ke
Litlhaloso:
- Phallo ea sebaka se lekantsoeng ka mocha o mong le o mong oa LiDAR e behiloe e le R. Hlokomela hore yuniti ea tlhahiso ea LiDAR ke 2mm, ka kopo fetolela ho 1mm pele.
- Lebelo le potolohang la LiDAR le behiloe joalo ka H (hangata 10Hz)
- Karolo e emeng ea mocha ka mong oa LiDAR e behiloe joalo ka ω
- Phallo ea angle e otlolohileng ke LiDAR e behiloe joalo ka α
- Thepa e otlolohileng ea kanale ka 'ngoe ea LiDAR e behiloe joalo ka A
- Thepa e otlolohileng ea kanale ka 'ngoe ea LiDAR e behiloe joalo ka B
- Sistimi ea khokahano ea sebaka sa mocha ka mong oa LiDAR e behiloe ho X, Y, Z
MABAPI KAMPANI
- Morpheus Tek
- Web: www.morpheustek.com
- Lengolo-tsoibila: sales@morpheustek.com
- TEL: (+86) 400 102 5850
Litokomane / Lisebelisoa
 |
OLEI LR-16F 3D LiDAR Sensor Communication Data Protocol [pdf] Bukana ea Mosebelisi LR-16F, 3D LiDAR Sensor Data Protocol, Communication Data Protocol, 3D LiDAR Sensor, LiDAR Sensor, 3D LiDAR, Sensor, LiDAR |
