NTSHETSOPELE ea YDLIDAR GS2 Linear Array Solid LiDAR Sensor

MOSEBETSI MOKHALI

Mokhoa
Sistimi ea YDLIDAR GS2 (eo hamorao e tla bitsoa GS2) e na le mekhoa e 3 ea ho sebetsa: mokhoa o sa sebetseng, mokhoa oa ho hlahloba, mokhoa oa ho emisa.

• Mokhoa o sa sebetseng: Ha GS2 e buletsoe, mokhoa oa kamehla ke mokhoa o sa sebetseng. Ka mokhoa o sa sebetseng, yuniti e fapaneng ea GS2 ha e sebetse mme le laser ha e bobebe.
• Hlahloba mode: Ha GS2 e le maemong a ho skena, yuniti e fapaneng e bulela laser. Ha GS2 e qala ho sebetsa, e tsoela pele sampe fokotsa tikoloho ea kantle ebe e e hlahisa ka nako ea nnete kamora ts'ebetso ea morao-rao.
• Emisa mokhoa: Ha GS2 e sebetsa ka phoso, joalo ka ho bulela scanner, laser e tima, motlakase ha o potoloha, joalo-joalo GS2 e tla tima yuniti ea ho lekanya sebaka le ho fana ka maikutlo khoutu ea phoso.

Ho lekanya Molao-motheo
GS2 ke sekoahelo se tiileng sa boemo bo bokhutšoane se nang le mefuta e mengata ea 25-300mm. Haholo-holo e entsoe ka laser line le khamera. Kamora hore laser ea mohala o le mong e ntše lebone la laser, e nkuoa ke khamera. Ho ea ka sebopeho se tsitsitseng sa laser le khamera, ho kopantsoe le molao-motheo oa ho lekanya sebaka sa triangulation, re ka bala sebaka ho tloha nthong ho ea ho GS2. Ho ea ka li-parameter tse lekantsoeng tsa khamera, boleng ba angle ba ntho e lekantsoeng tsamaisong ea lidar coordinate e ka tsejoa. Ka lebaka leo, re fumane lintlha tse feletseng tsa tekanyo ea ntho e lekantsoeng.

Ntlha ea O ke tšimoloho ea li-coordinate, sebaka se pherese ke angle ea view ea khamera e nepahetseng, le sebaka sa lamunu ke angle ea view ea khamera e letšehali.

Ka matšoao a puo e le mohloli oa khokahano, bokapele ke tataiso ea sistimi e hokahanyang 0 degree, 'me angle e eketseha ho ea ka oache. Ha leru la ntlha le hlahisoa, taelo ea data (S1~S160) ke L1~L80, R1~R80. Angle le sebaka se baloang ke SDK kaofela li emeloa ho sistimi e hokahantsoeng ho ea ka oache.

TS'ELISO TS'ELISO

Mokhoa oa Puisano
GS2 e fana ka litaelo le data ka lisebelisoa tsa kantle ka boema-kepe ba serial. Ha sesebelisoa sa kantle se romella taelo ea sistimi ho GS2, GS2 e rarolla taelo ea sistimi mme e khutlisa molaetsa o lumellanang oa karabo. Ho ea ka litaba tsa taelo, GS2 e fetola boemo bo tšoanang ba ho sebetsa. Ho ipapisitsoe le litaba tsa molaetsa, sistimi e kantle e ka fetisa molaetsa mme ea fumana lintlha tsa karabelo.

Taelo ea Tsamaiso
Sistimi ea kantle e ka beha boemo bo ts'oanang ba GS2 mme e romelle data e ts'oanang ka ho romella litaelo tse amanang le sistimi. Litaelo tsa sistimi tse fanoeng ke GS2 ke tse latelang:

CHATE 1 YDLIDAR GS2 SYSTEM TAELO

Taelo ea tsamaiso	Tlhaloso	Ho fetola mokhoa	Mokhoa oa ho araba
0x60	Ho Fumana Aterese ea Sesebelisoa	Emisa mokhoa	Karabo e le 'ngoe
0x61	Ho fumana lisebelisoa tsa lisebelisoa	Emisa mokhoa	Karabo e le 'ngoe
0x62	Ho fumana leseli la mofuta	Emisa mokhoa	Karabo e le 'ngoe
0x63	Qala ho hlahloba le ho hlahisa lintlha tsa leru	Mokhoa oa ho skena	Karabelo e tsoelang pele
0x64	Emisa sesebelisoa, emisa ho hlahloba	Emisa mokhoa	Karabo e le 'ngoe
0x67	Ho qala bocha ho bonolo	/	Karabo e le 'ngoe
0x68	Beha sekhahla sa serial port baud	Emisa mokhoa	Karabo e le 'ngoe
0x69	Beha mokhoa oa moeli (mokhoa o khahlanong le lerata)	Emisa mokhoa	Karabo e le 'ngoe

Melaetsa ea Tsamaiso
Molaetsa oa sistimi ke molaetsa oa karabelo oo sistimi e o fepang ho latela taelo ea sistimi e amohetseng. Ho latela litaelo tse fapaneng tsa sistimi, mokhoa oa ho araba le litaba tsa karabelo tsa molaetsa oa sistimi le tsona li fapane. Ho na le mefuta e meraro ea ho arabela: ha ho karabo, karabo e le 'ngoe, karabo e tsoelang pele.
Ha ho karabo e bolelang hore tsamaiso ha e khutlisetse melaetsa leha e le efe. Karabo e le 'ngoe e bontša hore bolelele ba molaetsa oa tsamaiso bo lekanyelitsoe, 'me karabo e fella hang. Ha sistimi e sebelisoa ka lisebelisoa tse ngata tsa GS2, litaelo tse ling li tla fumana likarabo ho tsoa ho lisebelisoa tse ngata tsa GS2 ka tatellano. Karabelo e sa khaotseng e bolela hore bolelele ba molaetsa oa sisteme ha bo felle 'me e hloka ho romela data khafetsa, joalo ka ha o kenya mokhoa oa ho skena.

Karabo e le 'ngoe, likarabo tse ngata le melaetsa e tsoelang pele ea karabo e sebelisa protocol e tšoanang ea data. Likahare tsa protocol ke: hlooho ea pakete, aterese ea sesebelisoa, mofuta oa pakete, bolelele ba data, karolo ea data le khoutu ea ho hlahloba, 'me li hlahisoa ka sistimi ea serial port hexadecimal.

CHART 2 YDLIDAR GS2 SCHEMATIC DIAGRAM OF SYSTEM MOLAETSA MOLAETSA

Sehlooho sa pakete	Aterese ea sesebelisoa	Mofuta oa pakete	Bolelele ba karabo	Karolo ea lintlha	Hlahloba khoutu
4 Byte	1 Byte	1 Byte	2 Byte	N Byte	1 Byte

Byte offset

• Sehlooho sa pakete: Sehlooho sa pakete ea molaetsa bakeng sa GS2 se tšoailoe 0xA5A5A5A5AXNUMX.
• Aterese ea sesebelisoa: Aterese ea sesebelisoa sa GS2, ho ea ka palo ea li-cascade, e arotsoe ka: 0x01, 0x02, 0x04;
• Mofuta oa pakete: Sheba chate ea 1 bakeng sa mefuta ea litaelo tsa tsamaiso.
• Bolelele ba karabo: E emela bolelele ba karabo
• Karolo ea lintlha: Litaelo tse fapaneng tsa sistimi li arabela ho litaba tse fapaneng tsa data, 'me liprothokholo tsa bona tsa data li fapane.
• Hlahloba khoutu: hlahloba khoutu.

Hlokomela: Khokahano ea data ea GS2 e nka mokhoa o monyane, o tlase pele.

TŠEBELETSO EA DATA

Fumana Taelo ea Aterese ea Sesebelisoa
Ha sesebelisoa sa kantle se romella taelo ena ho GS2, GS2 e khutlisetsa pakete ea aterese ea sesebelisoa, molaetsa ke:

Ka cascading, haeba lisebelisoa tsa N (ho fihlela ho tse 3 li tšehelitsoe) li kenngoa, taelo e khutlisetsa likarabo tsa N ho 0x01, 0x02, 0x04, tse tsamaellanang le 1-3 modules ka ho latellana.

Tlhaloso: Aterese ea mojule 1 ke 0x01, mojule 2 ke 0x02, 'me mojule 3 ke 0x04.

Fumana Taelo ea Boitsebiso ba Version
Ha sesebelisoa sa kantle se romella taelo ea scan ho GS2, GS2 e khutlisa tlhaiso-leseling ea eona. Molaetsa oa karabo ke:

Tabeng ea cascading, haeba lisebelisoa tsa N (boholo ba 3) li kopantsoe letotong, taelo ena e tla khutlisetsa likarabo tsa N, moo aterese e leng aterese ea sesebelisoa sa ho qetela.
Nomoro ea phetolelo ke bolelele ba li-byte tse 3, 'me nomoro ea SN e bolelele ba li-byte tse 16.

Fumana Taelo ea Parameter ea Sesebelisoa
Ha sesebelisoa sa kantle se romella taelo ena ho GS2, GS2 e tla khutlisa lisebelisoa tsa eona, 'me molaetsa ke:

Ka cascading, haeba lisebelisoa tsa N (ho fihlela ho 3 li tšehelitsoe) li kenngoa, taelo e khutlisetsa likarabo tsa N, tse tsamaellanang le litekanyetso tsa sesebelisoa ka seng.
K le B tse amoheloang ke protocol ke tsa mofuta oa uint16, o hlokang ho fetoloa ho mofuta oa float ebe o aroloa ke 10000 pele o nkeloa sebaka ke mosebetsi oa ho bala.

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

Bias ke ea mofuta oa int8, e hlokang ho fetoleloa ho mofuta oa float le ho aroloa ka 10 pele e kenya tšebetsong ea lipalo.

• leeme = (float) Leeme /10;

Taelo

Scan Taelo

Ha sesebelisoa sa kantle se romella taelo ea scan ho GS2, GS2 e kena maemong a scan 'me e tsoela pele ho fepa data ea morao-rao ea maru. Molaetsa ke: Taelo e rometsoe: (Romela aterese 0x00, cascade kapa che, e tla qala lisebelisoa tsohle)

Taelo e fumanwe: (Maemong a mangata, taelo ena e khutlisa karabo e le 'ngoe feela, 'me aterese ke aterese e kholo ka ho fetisisa, mohlalaampLe: Sesebelisoa sa No.3 se cascaded, 'me aterese ke 0x04.)

Karolo ea data ke lintlha tsa maru tse hlahlobiloeng ke sistimi, e romelloang boema-kepeng ba serial ka hexadecimal ho sesebelisoa sa kantle ho latela sebopeho se latelang sa data. Bolelele ba data ba pakete eohle ke 322 Byte, ho kenyelletsa le 2 Byte ea data ea tikoloho le lintlha tse 160 (S1-S160), e 'ngoe le e' ngoe e le 2 Byte, li-bits tse 7 tse holimo ke data ea matla, 'me li-bits tse 9 tse tlase ke data ea hole. . Sehlopha ke mm.

Emisa Taelo

Ha sistimi e le maemong a ho skena, GS2 esale e romella lintlha tsa maru lefatšeng le kantle. Ho tima ho sekena ka nako ena, romella taelo ena ho emisa ho sekena. Ka mor'a ho romela taelo ea ho emisa, mochine o tla arabela taelo ea karabo, 'me tsamaiso e tla kena boemong ba ho robala hang-hang. Ka nako ena, yuniti e fapaneng ea sesebelisoa e maemong a tlase a tšebeliso ea matla, 'me laser e tima.

• Ho romela taelo: (romella aterese 0x00, ho sa tsotelehe hore na e ea theoha kapa che, lisebelisoa tsohle li tla koaloa).

Tabeng ea cascading, haeba lisebelisoa tsa N (boholo ba 3) li hokahane ka letoto, taelo ena e tla khutlisa karabo feela, moo aterese e leng aterese ea sesebelisoa sa ho qetela, bakeng sa ex.ampLe: haeba lisebelisoa tse 3 li senyehile, aterese ke 0x04.

Beha Taelo ea Baud Rate

Ha sesebelisoa sa kantle se romella taelo ena ho GS2, sekhahla sa tlhahiso ea GS2 se ka beoa.

• Taelo e rometsoe: (ho romela aterese 0x00, e tšehetsa feela ho beha sekhahla sa baud sa lisebelisoa tsohle tse senyehileng hore se tšoane), molaetsa ke:

Har'a tsona, karolo ea data ke parameter ea sekhahla sa baud, ho kenyelletsa le litekanyetso tse 'nè tsa baud (bps), ka ho latellana: 230400, 512000, 921600, 1500000 e tsamaellanang le khoutu 0-3 (hlokomela: khokahanyo ea serial ea li-module tse tharo e tlameha ho ba ≥921600, kamehla ke 921600).

Tabeng ea cascading, haeba lisebelisoa tsa N (boholo ba tšehetso ea 3) li kopantsoe ka letoto, taelo e tla khutlisa likarabo tsa N, tse tsamaellanang le litekanyetso tsa sesebelisoa ka seng, 'me liaterese ke: 0x01, 0x02, 0x04.

• Ka mor'a ho beha tekanyo ea baud, ho hlokahala hore u qalelle ka bonolo sesebelisoa.

Seta The Edge Mode (Mokhoa o matla oa anti-jamming)
Ha sesebelisoa sa ka ntle se romela taelo ena ho GS2, mokhoa o khahlanong le ho jamming oa GS2 o ka behoa.

• Ho romela taelo: (ho romela aterese, aterese ea cascade), molaetsa ke:

taelo ea kamohelo

Aterese ke aterese ea mojule e hlokang ho hlophisoa sehokelong sa cascade. Mokhoa=0 o tsamaellana le mokhoa o tloaelehileng, Mokhoa=1 o tsamaellana le mokhoa oa moeli (sejana se shebile holimo), Mokhoa=2 o lumellana le mokhoa oa moeli (senkho se shebile fatše). Boemong ba moeli, tlhahiso e tsitsitseng ea lidar ke 10HZ, 'me phello ea ho hloekisa ea leseli le potolohileng e tla ntlafatsoa. Mokhoa = 0XFF e bolela ho bala, sekoahelo se tla khutlela ho mokhoa oa hona joale. Lidar e sebetsa ka mokhoa o tloaelehileng ka ho sa feleng.

• Beha mojule oa 1: Aterese =0x01
• Beha mojule oa 2: Aterese =0x02
• Beha mojule oa 3: Aterese =0x04

Taelo ea ho tsosolosa tsamaiso
Ha sesebelisoa sa ka ntle se romela taelo ena ho GS2, GS2 e tla kenya mokhoa o bonolo oa ho qala hape, 'me tsamaiso e tla tsosolosa le ho qala hape.
Ho romela taelo: (aterese ea ho romela, e ka ba feela aterese e tobileng e kopantsoeng: 0x01/0x02/0x04)

Aterese ke aterese ea mojule e hlokang ho hlophisoa sehokelong sa cascade.

• Khutlisa mojule oa 1: Aterese =0x01
• Khutlisa mojule oa 2: Aterese =0x02
• Khutlisa mojule oa 3: Aterese =0x04

TS'EBETSO TSEBA

CHATE 3 TLHALOSO EA SEBOPEHO SA DATA

Litaba	Lebitso	Tlhaloso
K0(2B)	Methati ea sesebelisoa	(uint16) Paramethara ea angle ea khamera ea k0 coefficient (sheba karolo ea 3.3)
B0(2B)	Methati ea sesebelisoa	(uint16) Paramethara ea angle ea khamera ea k0 coefficient (sheba karolo ea 3.3)
K1(2B)	Methati ea sesebelisoa	(uint16) Paramethara e nepahetseng ea angle k1 coefficient (sheba karolo ea 3.3)
B1(2B)	Methati ea sesebelisoa	(uint16) Paramethara e nepahetseng ea angle ea khamera b1 coefficient (sheba karolo ea 3.3)
LEEMESE	Methati ea sesebelisoa	(int8) Karolo ea hajoale ea paramethara ea kh'amera ea kh'amera (sheba karolo ea 3.3)
ENV(2B)	Lintlha tsa tikoloho	Matla a khanya a mangata
Si(2B)	Lintlha tsa tekanyo ea sebaka	Li-bits tse 9 tse tlase ke sebaka, tse ka holimo tse 7 ke boleng ba matla

• Tlhahlobo ea sebaka
  Foromo ea ho bala sebaka: Distance = (_ ≪ 8|_) &0x01ff, unit ke mm.
  Palo ea matla: Boleng = _ ≫ 1
• Tlhahlobo ea angle
  Tataiso ea tlhahiso ea laser e nkuoa e le karolo e ka pele ea kutlo, khakanyo ea setsi sa selikalikoe sa laser sefofaneng sa PCB se nkuoa e le tšimoloho ea likhokahano, 'me sistimi ea polar coordinate e thehiloe ka mohala o tloaelehileng oa sefofane sa PCB joalo ka ha. tataiso ea 0-degree. Ho latela tataiso ea oache, angle butle-butle e eketseha.

Ho fetolela data ea mantlha e fetisitsoeng ke Lidar ho sistimi e hokahanyang setšoantšong se kaholimo, ho hlokahala letoto la lipalo. Mosebetsi oa ho fetolela o tjena (bakeng sa lintlha, ka kopo sheba SDK):

Sheba tlhahlobo ea khoutu
Khoutu ea cheke e sebelisa pokello ea bayte e le 'ngoe ho lekola pakete ea data ea hajoale. Sehlooho sa pakete ea li-byte tse 'nè le khoutu ea ho hlahloba ka boeona ha e kopanele ts'ebetsong ea ho hlahloba. Foromo ea tharollo ea khoutu ea ho hlahloba ke:

• CheckSum = ADD1()
• = 1,2, ... ,

ADD1 ke mokhoa oa ho bokella, ho bolela ho bokella linomoro ho tloha ho subscript 1 ho qetella ka karolo.

OTA PHATLALA

Ntlafatsa mokhoa oa ho sebetsa

Romela Protocol

CHART 4 ​​OTA DATA PROTOCOL FORMAT (ENDIAN E NYENYANE)

Paramethara	Bolelele (BYTE)	Tlhaloso
Pakete_Hlooho	4	Sehlooho sa pakete ea data, e tsitsitseng e le A5A5A5A5
Sesebediswa_Aterese	1	E totobatsa aterese ea sesebelisoa
Paka_ID	1	ID ea pakete ea data (mofuta oa data)

Lintlha_Len	2	Bolelele ba data ba karolo ea data, 0-82
Lintlha	n	Lintlha, n = Data_Len
Sheba_Kakaretso	1	Checksum, cheke ea li-byte tse setseng ka mor'a hore hlooho e tlosoe

CHART 5 OTA Ntlafatsa DITAELO

Mofuta oa litaelo	Paka_ID	Tlhaloso
Qala_IAP	0x0A	Romela taelo ena ho qala IAP ka mor'a hore motlakase o bule
E sebetsa_IAP	0x0B	Matha IAP, fetisetsa lipakete
Feletseng_IAP	0x0C	Qetello ea IAP
ACK_IAP	0x20	Karabo ea IAP
RESET_SYSTEM	0x67	Seta hape 'me u qale mojule bocha atereseng e boletsoeng

Start_IAP Taelo

Ho romela taelo

• Sebopeho sa data sa karolo ea data:
• Lintlha[0~1]: Ea kamehla ke 0x00;
• LETSATSI[2~17]: Ke khoutu e tsitsitseng ea ho netefatsa litlhaku:
• 0x73 0x74 0x61 0x72 0x74 0x20 0x64 0x6F 0x77 0x6E 0x6C 0x6F 0x61 0x64 0x00 0x00
• Sheba ho romela molaetsa
• 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

Kamohelo ea taelo: Ka lebaka la ts'ebetso ea lekala la FLASH, tieho ea ho khutla e telele ebile e fetoha lipakeng tsa 80ms le 700ms)

Fumana sebopeho sa data

• Aterese: aterese ea mojule;
• ACK: Ntho ea kamehla ke 0x20, e bontšang hore pakete ea data ke pakete ea ho amohela; Lintlha[0~1]: Ea kamehla ke 0x00;
• Lintlha[2]: 0x0A e bontša hore taelo ea karabo ke 0x0A;
• Lintlha[3]: 0x01 e bontša kamohelo e tloaelehileng, 0 e bontša kamohelo e sa tloaelehang;
• Reference ho fumana:
  A5 A5 A5 A5 01 20 04 00 00 00 0A 01 30

Taelo ea ho Running_IAP

Ho romela taelo

Firmware e tla aroloa nakong ea ntlafatso, 'me li-byte tse peli tsa pele tsa karolo ea data (Data) li bonts'a ho felisoa ha karolo ena ea data e amanang le li-byte tsa pele tsa firmware.

• Lintlha[0~1]:Package_Shift = Lintlha[0]+ Data[1]*256;
• Lintlha[2]~Boitsebiso[17]: ke khoele e tsitsitseng ea netefatso:
• 0x64 0x6F 0x77 0x6E 0x6C 0x6F 0x61 0x64 0x69 0x6E 0x67 0x00 0x00 0x00 0x00 0x00 Data[18]~Data[81]: data ea firmware;
• Sheba ho romela molaetsa
• 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 +
  (Boitsebiso[18]~Data[81]) + Check_Sum

Kamohelo ea taelo

• Aterese: is aterese ea mojule;
• ACK: Ntho ea kamehla ke 0x20, e bontšang hore pakete ea data ke pakete ea ho amohela;

Lintlha[0~1] : Package_Shift = Data[0]+ Data[1]*256 e bontša firmware data offset ea karabo. Ho khothaletsoa ho ahlola ho fokotsa joalo ka mokhoa oa ts'ireletso ha u lemoha karabo nakong ea ts'ebetso ea ntlafatso.

• Lintlha[2]=0x0B li bontša hore taelo ea karabo ke 0x0B;
• Lintlha[3]=0x01 li bontša kamohelo e tloaelehileng, 0 e bontša kamohelo e sa tloaelehang;

Tšupiso ea ho amohela
A5 A5 A5 A5 01 20 04 00 00 00 0B 01 31

Qetella_Taelo ea IAP

Ho romela taelo

• Lintlha[0~1]: Ea kamehla ke 0x00;
• Lintlha[2]~Boitsebiso[17]: Ke khoele e tsitsitseng ea netefatso:
  0x63 0x6F 0x6D 0x70 0x6C 0x65 0x74 0x65 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00

Lintlha[18]~Boitsebiso[21]: folakha ea encryption, mofuta oa uint32_t, firmware e patiloeng ke 1, firmware e sa ngolisoang ke 0;

Sheba ho romella molaetsa:
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 folakha) + Check_Sum

Kamohelo ea taelo

• Fumana sebopeho sa data:
• Aterese: ke aterese ea mojule;
• ACK: Ntho ea kamehla ke 0x20, e bontšang hore pakete ea data ke pakete ea ho amohela;
• Lintlha[0~1]: Ea kamehla ke 0x00;
• Lintlha[2]: 0x0C e bontša hore taelo ea karabo ke 0x0C;
• Lintlha[3]: 0x01 e bontša kamohelo e tloaelehileng, 0 e bontša kamohelo e sa tloaelehang;
• Sheba molaetsa o amohetsoeng:
  A5 A5 A5 A5 01 20 04 00 00 00 0C 01 32

RESET_SYSTEM Taelo
Ka kopo sheba Khaolo ea 3.8 System Reset Command bakeng sa lintlha.

Q&A

• P: Joang ho ahlola hore reset e atlehile ka mor'a ho romela taelo ea reset? Hore na ho hlokahala tieho?
  • A: Ts'ebetso e atlehileng e ka ahloloa ho latela pakete ea karabo ea taelo ea reset; ho kgothaletswa ho eketsa tieho ea 500ms ka mor'a ho fumana karabo pele o etsa ts'ebetso e latelang.
• P: Module 4 e fumana lintlha tse ling tsa serial port tse sa lumellaneng le protocol ka mor'a ho tsosolosa, ho sebetsana le eona joang?
  • A: Letlapa la matla la mojule ke letoto la lintlha tsa ASCII tse nang le lihlooho tsa 4 0x3E, tse sa amang mokhoa o tloaelehileng oa ho arola ka lihlooho tsa 4 0xA5, 'me li ka hlokomolohuoa. Ka lebaka la khokahanyo ea 'mele, li-logs tsa No. 1 le No. 2 modules li ke ke tsa amoheloa.
• P: U ka sebetsana joang le haeba ts'ebetso ea ntlafatso e sitisoa ke ho felloa ke matla le ho qala hape?
  • A: Romela hape Start_IAP taelo ea ho ntlafatsa bocha.
• P: Ke lebaka lefe le ka bang teng bakeng sa ts'ebetso e sa tloaelehang ea ntlafatso sebakeng sa cascade?
  • A: Netefatsa hore na sehokelo sa 'mele se nepahetse, joalo ka hore na lintlha tsa leru la lintlha tsa li-module tse tharo li ka amoheloa;
  • Netefatsa hore liaterese tsa li-module tse tharo ha li hohlane, 'me u ka leka ho abela liaterese bocha;
  • Seta bocha mojule hore o ntlafatsoe ebe o qala teko hape;
• Q: Hobaneng ha palo ea mofuta o baloang e le 0 kamora ho ntlafatsoa ha cascade?
  • A: Ho bolela hore ntlafatso ea mojule ha e ea atleha, basebelisi ba hloka ho seta module hape ebe ba ntlafatsa hape.

TLHOKOMELO

1. Nakong ea tšebelisano ea litaelo le GS2, ntle le taelo ea stop scan, litaelo tse ling li ke ke tsa sebelisana le mokhoa oa ho hlahloba, o ka lebisang habonolo liphosong tsa ho arola melaetsa.
2. GS2 e ke ke ea qala ka bo eona feela ha motlakase o buletsoe. E hloka ho romela taelo ea ho qala ho hlahloba ho kenya mokhoa oa ho hlahloba. Ha o hloka ho emisa ho bala, romella taelo ea ho emisa ho hlahloba le ho kenya mokhoa oa ho robala.
3. Qala GS2 ka tloaelo, ts'ebetso ea rona e khothaletsoang ke:
   Mohato oa pele:
   romella taelo ea Fumana Aterese ea Sesebelisoa ho fumana aterese ea sesebelisoa sa hajoale le palo ea li-cascade, 'me u lokise aterese;
   Mohato oa bobeli:
   romella taelo ea mofuta oa fumana ho fumana nomoro ea mofuta;
   Mohato oa boraro:
   romela taelo ea ho fumana lisebelisoa tsa lisebelisoa ho fumana li-angle parameters tsa sesebelisoa bakeng sa tlhahlobo ea data;
   Mohato oa bone:
   romella taelo ea ho qala ho fumana lintlha tsa maru.
4. Litlhahiso mabapi le moralo oa lisebelisoa tse fetisang leseli bakeng sa lifensetere tsa pono ea GS2:
   Haeba fensetere e ka pele ea sekoahelo e etselitsoe GS2, ho kgothaletswa hore o sebedise PC e nang le infrared-permeable e le lisebelisoa tsa eona tse fetisang leseli, 'me sebaka se fetisang khanya se tlameha ho ba se bataletseng (flatness ≤0.05mm), le libaka tsohle tsa sefofane se lokela ho ba pepeneneng ho sehlopha sa 780nm ho isa ho 1000nm. Sekhahla sa khanya se feta 90%.
5. Mokhoa o khothaletsoang oa ho bulela GS2 khafetsa le ho tima boto ea ho tsamaea:
   E le ho fokotsa tšebeliso ea matla ea boto ea ho tsamaea, haeba GS2 e hloka ho ts'oaroa le ho tima khafetsa, ho kgothaletswa ho romela taelo ea ho emisa (sheba karolo ea 3.5) pele o tima, ebe o lokisa TX le RX ea boto ea ho sesa ho ea ho impedance e phahameng. Ebe o hula VCC tlase ho e tima. Nakong e tlang ha motlakase o buloa, qala ka ho hula VCC, ebe u lokisa TX le RX e le maemo a tloaelehileng a tlhahiso le ho kenya, 'me ka mor'a ho lieha ha 300ms, etsa tšebelisano ea litaelo le laser line.
6. Hoo e ka bang nako e telele ea ho leta ka mor'a hore taelo ka 'ngoe ea GS2 e romeloe:
   • Fumana aterese: lieha 800ms, fumana mofuta: lieha 100ms;
   • Fumana litekanyo: lieha 100ms, qala ho hlahloba: lieha 400ms;
   • Emisa ho hlahloba: lieha 100ms, beha sekhahla sa baud: lieha 800ms;
   • Beha mokhoa oa bohale: lieha 800ms, qala OTA: lieha 800ms;

LIEKETSENG TS'OLO

Letsatsi	Phetolelo	Litaba
2019-04-24	1.0	Etsa moralo oa pele
2021-11-08	1.1	Fetola (Fetola moralo oa protocol ho kopanya data ea kh'amera e ka letsohong le letšehali le le letona; Litlhahiso tsa ho eketsa lisebelisoa tsa fensetere ea pono; Ho eketsa sekhahla sa baud ho beha taelo)
2022-01-05	1.2	Fetola tlhaloso ea ho amohela taelo ho fumana aterese ea sesebelisoa, le tlhaloso ea lik'hamera tse letšehali le tse nepahetseng
2022-01-12	1.3	Kenya mokhoa oa moeli, tlatselletsa K, B, tlhaloso ea lipalo ea BIAS
2022-04-29	1.4	Fetola tlhaloso ea khaolo ea 3.2: Obtain Version Information Command
2022-05-01	1.5	Fetola mokhoa oa tlhophiso ea aterese ea taelo e bonolo ea ho qala bocha
2022-05-31	1.6	1) Ntlafatsa karolo ea 3.7 2) Karolo ea 3.8 RESET taelo e eketsa karabo e le 'ngoe 3) Ho eketsoa Khaolo ea 5 ea ntlafatso ea OTA
2022-06-02	1.6.1	1) Fetola tšebetso ea ntlafatso ea OTA 2) Fetola Q&A ea OTA

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Litokomane / Lisebelisoa

NTSHETSOPELE ea YDLIDAR GS2 Linear Array Solid LiDAR Sensor [pdf] Bukana ea Mosebelisi TŠEBELETSO EA GS2 Linear Array Solid LiDAR Sensor, NTSHETSOPOTSO EA GS2, Linear Array Solid LiDAR Sensor, Array Solid LiDAR Sensor, Solid LiDAR Sensor, LiDAR Sensor, Sensor

Litšupiso

• Bukana ea Mosebelisi