UPHUHLISO YDLIDAR GS2 Linear Array Solid LiDAR Sensor
UKUSEBENZA KOOMATSHINI
Imowudi
Inkqubo ye-YDLIDAR GS2 (emva koku ebizwa ngokuba yi-GS2) ineendlela ezi-3 zokusebenza: imo engasebenziyo, imo yokuskena, imo yokuyeka.
- Imowudi yokungasebenzi: Xa i-GS2 ilayitiwe, imowudi emiyo yimowudi yokungenzi nto. Kwimo engasebenziyo, iyunithi ye-GS2 yoluhlu ayisebenzi kwaye i-laser ayikhanyi.
- Imowudi yokuskena: Xa i-GS2 ikwimo yokuskena, iyunithi ejikelezayo ivula i-laser. Xa i-GS2 iqalisa ukusebenza, ngokuqhubekayo sampinciphisa imeko-bume yangaphandle kwaye iyikhuphe ngexesha lokwenyani emva koqhubekeko lwangasemva.
- Imowudi yokumisa: Xa i-GS2 iqhuba ngephutha, njengokuguqula i-scanner, i-laser icinyiwe, i-motor ayijikelezi, njl njl.GS2 iya kucima ngokuzenzekelayo iyunithi yokulinganisa umgama kunye nempendulo yekhowudi yephutha.
Umgaqo-siseko wokulinganisa
I-GS2 luhlobo olufutshane oluqinileyo lwelidar enoluhlu lwe-25-300mm. Ubukhulu becala yenziwe ngelaser yomgca kunye nekhamera. Emva kokuba i-laser yomgca omnye ikhupha ukukhanya kwelaser, ithathwa yikhamera. Ngokutsho kwesakhiwo esisisigxina se-laser kunye nekhamera, idibene nomgaqo wokulinganisa umgama we-triangulation, sinokubala umgama ukusuka kwinto ukuya kwi-GS2. Ngokweeparamitha ezilinganisiweyo zekhamera, ixabiso le-angle yento elinganisiweyo kwinkqubo yokulungelelanisa i-lidar iyakwazi ukubizwa. Ngenxa yoko, sifumene idatha epheleleyo yokulinganisa into elinganisiweyo.
Inqaku O yimvelaphi yolungelelwaniso, indawo emfusa yi-engile ye view yekhamera ekunene, kunye nommandla orenji yi-engile ye view yekhamera yasekhohlo.
Ngeempawu zobhalo zemod njengemvelaphi yolungelelwaniso, umphambili licala lenkqubo yolungelelwaniso i-0 degree, kwaye i-angle iyanda ngokwewotshi. Xa i-point cloud iphuma, ulandelelwano lwedatha (S1~S160) yi-L1~L80, i-R1~R80. I-engile kunye nomgama obalwa yi-SDK zonke zimelwe kwinkqubo yolungelelwaniso ngokwewotshi.
UNXIBELELWANO NGENKQUBO
Indlela yoNxibelelwano
I-GS2 ithumela imiyalelo kunye nedatha kunye nezixhobo zangaphandle ngokusebenzisa i-port ye-serial. Xa isixhobo sangaphandle sithumela umyalelo wenkqubo kwi-GS2, i-GS2 isombulula umyalelo wenkqubo kwaye ibuyisela umyalezo wempendulo ohambelanayo. Ngokomxholo womyalelo, i-GS2 itshintsha imo yokusebenza ehambelanayo. Ngokusekelwe kumxholo womyalezo, inkqubo yangaphandle inokwahlula umyalezo kwaye ifumane idatha yokuphendula.
Umyalelo weNkqubo
Inkqubo yangaphandle inokuseta imo yokusebenza ehambelanayo ye-GS2 kwaye ithumele idatha ehambelanayo ngokuthumela imiyalelo yenkqubo ehambelanayo. Imiyalelo yesistim ekhutshwe yiGS2 yile ilandelayo:
ISHATHI 1 YDLIDAR GS2 UMYALELO WENKQUBO
| Umyalelo wenkqubo | Inkcazo | Ukutshintsha indlela | Indlela yokuphendula |
| 0×60 | Ukufumana idilesi yesiXhobo | Misa imowudi | Impendulo enye |
| 0×61 | Ukufumana iiparamitha zesixhobo | Misa imowudi | Impendulo enye |
| 0×62 | Ukufumana ulwazi lwenguqulelo | Misa imowudi | Impendulo enye |
| 0×63 | Qala ukuskena kunye nesiphumo sedatha yelifu | Imowudi yokuskena | Impendulo eqhubekayo |
| 0x64 | Misa isixhobo, yeka ukuskena | Misa imowudi | Impendulo enye |
| 0x67 | Ukuqalisa kwakhona okuthambileyo | / | Impendulo enye |
| 0×68 | Cwangcisa ireyithi yesiriyali se-baud | Misa imowudi | Impendulo enye |
| 0×69 | Cwangcisa indlela yongqameko (imowudi yokuchasa ingxolo) | Misa imowudi | Impendulo enye |
Imiyalezo yeNkqubo
Umyalezo wesixokelelwano ngumyalezo wempendulo ethi isixokelelwano esondlayo ngokusekwe kumyalelo wenkqubo efunyenweyo. Ngokwemiyalelo yenkqubo eyahlukeneyo, indlela yokuphendula kunye nomxholo wokuphendula womyalezo wenkqubo nazo zahlukile. Kukho iintlobo ezintathu zeendlela zokuphendula: akukho mpendulo, impendulo enye, impendulo eqhubekayo.
Akukho mpendulo ithetha ukuba inkqubo ayibuyiseli nayiphi na imiyalezo. Impendulo enye ibonisa ukuba ubude bomyalezo wenkqubo bulinganiselwe, kwaye impendulo iphela kube kanye. Xa inkqubo icascaded ngezixhobo ezininzi ze-GS2, eminye imiyalelo iya kufumana iimpendulo kwizixhobo ezininzi ze-GS2 ngokulandelelanayo. Ukuphendula ngokuqhubekayo kuthetha ukuba ubude bomyalezo wenkqubo abunasiphelo kwaye kufuneka ithumele idatha ngokuqhubekayo, njengaxa ungenisa imo yokuskena.
Impendulo enye, iimpendulo ezininzi kunye nemiyalezo yokuphendula eqhubekayo isebenzisa iprotocol yedatha efanayo. Imixholo yeprotocol yile: iheader yepakethe, idilesi yesixhobo, uhlobo lwepakethi, ubude bedatha, icandelo ledatha kunye nekhowudi yokutshekisha, kwaye ziphuma nge-serial port hexadecimal system.
Itshathi yesi-2 YDLIDAR GS2 IDIAGAMA YESICWANGCISO SEPROTOCOL YEDATHA YENKQUBO
| Iphepha lepakethi yephepha | Idilesi yesixhobo | Uhlobo lwepakethe | Ubude bempendulo | Icandelo ledatha | Jonga ikhowudi |
| Iibhayithi ezi-4 | 1 Byte | 1 Byte | Iibhayithi ezi-2 | N Bytes | 1 Byte |
I-Byte offset
- Okubhalwe ngasentla kwepakethe: Iheader yepakethe yomyalezo ye-GS2 iphawulwe 0xA5A5A5A5AXNUMX.
- Idilesi yesixhobo: Idilesi yesixhobo se-GS2, ngokwenani le-cascades, ihlulwe ibe: 0x01, 0x02, 0x04;
- Uhlobo lwepakethe: Jonga itshathi yoku-1 kwiindidi zemiyalelo yesixokelelwano.
- Ubude bempendulo: Imele ubude bempendulo
- icandelo ledatha: Imiyalelo yenkqubo eyahlukeneyo iphendula kumxholo wedatha eyahlukeneyo, kwaye iiprotocol zabo zedatha zahlukile.
- Jonga ikhowudi: khangela ikhowudi.
Phawula: Unxibelelwano lwedatha ye-GS2 yamkela imowudi ye-endian encinci, i-odolo ephantsi kuqala.
IPROTOCOL YEDATHA
Fumana Umyalelo wedilesi yesiXhobo
Xa isixhobo sangaphandle sithumela lo myalelo kwi-GS2, i-GS2 ibuyisela ipakethi yedilesi yesixhobo, umyalezo uthi:
Kwi-Cascading, ukuba izixhobo ze-N (ukuya kwi-3 ezixhaswayo) zithungelwe, umyalelo ubuyisela iimpendulo ze-N kwi-0x01, 0x02, 0x04, ehambelana neemodyuli ze-1-3 ngokulandelanayo.
Ingcaciso: Idilesi yemodyuli yoku-1 ngu-0x01, imodyuli yesi-2 ngu-0x02, kunye nemodyuli yesi-3 ngu-0x04.
Fumana Umyalelo woLwazi lweNguqulelo
Xa isixhobo sangaphandle sithumela umyalelo wokuskena kwi-GS2, i-GS2 ibuyisela ulwazi lwayo lwenguqulelo. Umyalezo wempendulo uthi:
Kwimeko ye-cascading, ukuba izixhobo ze-N (ubuninzi be-3) zixhunyiwe kuchungechunge, lo myalelo uya kubuyisela iimpendulo ze-N, apho idilesi idilesi yesixhobo sokugqibela.
Inombolo yenguqulo yi-3 bytes ubude, kwaye inombolo ye-SN yi-16 bytes ubude.
Fumana Umyalelo weParameter yeSixhobo
Xa isixhobo sangaphandle sithumela lo myalelo kwi-GS2, i-GS2 izakubuyisela iiparamitha zesixhobo sayo, kwaye umyalezo uthi:
Kwi-Cascading, ukuba izixhobo ze-N (ukuya kwi-3 ezixhaswayo) zithungelwe, umyalelo ubuyisela iimpendulo ze-N, ezihambelana neeparamitha zesixhobo ngasinye.
I-K kunye ne-B efunyenwe yi-protocol yodidi lwe-uint16, ekufuneka iguqulelwe kuhlobo lwe-float kwaye yahlulwe nge-10000 ngaphambi kokuba ifakwe endaweni yokubala umsebenzi.
- d_compensateK0 = (ndanda)K0/10000.0f;
- d_compensateB0 = (float)B0/10000.0f;
- d_compensateK1 = (ndanda)K1/10000.0f;
- d_compensateB1 = (float)B1/10000.0f;
I-bias luhlobo lwe-int8, olufuna ukuguqulelwa kuhlobo lwe-float kwaye yahlulwe nge-10 ngaphambi kokuba kufakwe endaweni yokubala umsebenzi.
- icala = (ndanda) icala /10;
Umyalelo
Skena Umyalelo
Xa isixhobo sangaphandle sithumela umyalelo wokuskena kwi-GS2, i-GS2 ingena kwimowudi yokuskena kwaye ngokuqhubekayo isondla umva idatha yefu. Umyalezo ngulo: Umyalelo uthunyelwe: (Thumela idilesi 0x00, cascade okanye hayi, iya kuqalisa zonke izixhobo)
Umyalelo ufunyenwe: (Kwiimeko eziguqukayo, lo myalelo ubuyisela impendulo enye kuphela, kwaye idilesi yeyona dilesi inkulu, ngokomzekeloample: No.3 isixhobo cascaded, kwaye idilesi ngu 0x04.)
Inxalenye yedatha yidatha yefu yenqaku ehlolwe yinkqubo, ethunyelwa kwi-port ye-serial kwi-hexadecimal kwisixhobo sangaphandle ngokuhambelana nolwakhiwo lwedatha olulandelayo. Ubude bedatha yepakethi yonke yi-322 Bytes, kuquka i-2 Bytes yedatha yendalo kunye ne-160 amanqaku ahlukeneyo (S1-S160), nganye apho i-2 Bytes, i-bits ephezulu ye-7 yidatha yedatha, kwaye i-bits ephantsi ye-9 yidatha yomgama. . Iyunithi yi-mm.
Misa Umyalelo
Xa inkqubo ikwimeko yokuskena, i-GS2 ibithumela idatha yelifu kwilizwe langaphandle. Ukuyekisa ukuskena ngeli xesha, thumela lo myalelo ukuyekisa ukuskena. Emva kokuthumela umyalelo wokumisa, imodyuli iya kuphendula kumyalelo wokuphendula, kwaye inkqubo iya kungena kwimeko yokulala yokulinda ngokukhawuleza. Ngeli xesha, iyunithi ephumayo yesixhobo ikwimowudi yokusetyenziswa kwamandla aphantsi, kwaye i-laser icinyiwe.
- Ukuthunyelwa komyalelo: (thumela idilesi 0x00, kungakhathaliseki ukuba cascading okanye hayi, zonke izixhobo ziya kuvalwa).
Kwimeko ye-Cascading, ukuba izixhobo ze-N (ubuninzi be-3) zixhunyiwe kuthotho, lo myalelo uya kubuyisela impendulo kuphela, apho idilesi iyidilesi yesixhobo sokugqibela, kuba ex.ample: ukuba izixhobo ezi-3 zivaliwe, idilesi ngu-0x04.
Seta Umyalelo weBaud Rate
Xa isixhobo sangaphandle sithumela lo myalelo kwi-GS2, umlinganiselo we-baud wemveliso we-GS2 unokusetwa.
- Umyalelo uthunyelwe: (ukuthumela idilesi 0x00, ixhasa kuphela ukuseta umyinge we-baud yazo zonke izixhobo ezikhutshiweyo ukuba zifane), umyalezo ngulo:
Phakathi kwabo, icandelo ledatha yiparameter yezinga le-baud, kubandakanywa amazinga amane e-baud (bps), ngokulandelanayo: 230400, 512000, 921600, 1500000 ehambelana nekhowudi 0-3 (qaphela: uxhulumaniso lwe-serial yeemodyuli ezintathu kufuneka lube ≥921600, ukungagqibeki yi-921600).
Kwimeko ye-Cascading, ukuba izixhobo ze-N (inkxaso ephezulu ye-3) izixhobo zixhunyiwe kwichungechunge, umyalelo uya kubuyisela iimpendulo ze-N, ezihambelana neeparitha zesixhobo ngasinye, kunye needilesi zezi: 0x01, 0x02, 0x04.
- Emva kokuseta izinga le-baud, kufuneka ucofe ukuqalisa kwakhona isixhobo.
Cwangcisa iMowudi yoMda (imowudi eyomeleleyo yokuchasana nokujama)
Xa isixhobo sangaphandle sithumela lo myalelo kwi-GS2, imo ye-anti-jamming ye-GS2 inokumiselwa.
- Ukuthumela umyalelo: (idilesi yokuthumela, idilesi ye-cascade), umyalezo uthi:
umyalelo wokwamkela
Idilesi yidilesi yemodyuli ekufuneka iqwalaselwe kwikhonkco le-cascade. Imowudi=0 ingqinelana nemo esemgangathweni, iNdlela=1 ihambelana nemo yongqameko (isixhobo sokujonga sijonge phezulu), Indlela=2 ihambelana nemo yongqameko (isixhobo sokujonga sijonge ezantsi). Kwimodi yomgca, umphumo omiselweyo we-lidar ngu-10HZ, kwaye umphumo wokucoca wokukhanya okujikelezayo uya kuphuculwa. Imowudi=0XFF ithetha ukufunda, i-lidar iya kubuyela kwindlela yangoku. I-Lidar isebenza kwimowudi eqhelekileyo ngokungagqibekanga.
- Seta imodyuli 1: Idilesi =0x01
- Seta imodyuli 2: Idilesi =0x02
- Seta imodyuli 3: Idilesi =0x04
Umyalelo wokusetha kwakhona inkqubo
Xa isixhobo sangaphandle sithumela lo myalelo kwi-GS2, i-GS2 iya kungena kwi-soft restart, kwaye inkqubo iya kusetha kwakhona kwaye iqalise kwakhona.
Ukuthunyelwa komyalelo: (idilesi yokuthumela, inokuba yidilesi edibeneyo kuphela: 0x01/0x02/0x04)
Idilesi yidilesi yemodyuli ekufuneka iqwalaselwe kwikhonkco le-cascade.
- Phinda umisele imodyuli 1: Idilesi =0x01
- Phinda umisele imodyuli 2: Idilesi =0x02
- Phinda umisele imodyuli 3: Idilesi =0x04
UKUHLALUTYWA KWEDATHA
ISHATI 3 INKCAZELO YOKWAKHIWA KWEDATHA
| Umxholo | Igama | Inkcazo |
| K0(2B) | Iiparamitha zesixhobo | (uint16) I-engile yekhamera ekhohlo ipharamitha i-k0 coefficient (jonga icandelo 3.3) |
| B0(2B) | Iiparamitha zesixhobo | (uint16) I-engile yekhamera ekhohlo ipharamitha i-k0 coefficient (jonga icandelo 3.3) |
| K1(2B) | Iiparamitha zesixhobo | (uint16) I-engile yecamera elungileyo iparamitha i-k1 coefficient (bona icandelo 3.3) |
| B1(2B) | Iiparamitha zesixhobo | (uint16) I-engile yecamera elungileyo iparamitha b1 i-coefficient (jonga icandelo 3.3) |
| I-BIAS | Iiparamitha zesixhobo | (int8) I-engile yekhamera yangoku yeparameter bias coefficient (jonga icandelo 3.3) |
| I-ENV(2B) | Idatha yendalo esingqongileyo | Ambient ukukhanya ngamandla |
| Si(2B) | Idatha yomlinganiselo womgama | Amasuntswana ali-9 asezantsi ngumgama, amasuntswana angama-7 aphezulu lixabiso lobunzulu |
- Uhlalutyo lomgama
Ifomula yokubala umgama: Umgama = (_ ≪ 8|_) &0x01ff, iyunithi yi-mm.
Ubalo lwamandla: Umgangatho = _ ≫ 1 - Uhlalutyo lwe-engile
Isalathiso sokukhutshwa kwelaser sithathwa njengendawo engaphambili yenzwa, uqikelelo lweziko lesangqa selaser kwinqwelomoya yePCB kuthathwa njengemvelaphi yolungelelwaniso, kwaye inkqubo yolungelelwaniso lwepolar isekwe ngomgca oqhelekileyo wenqwelomoya yePCB njengoko. i-0-degree direction. Ukulandela ulwalathiso lwewotshi, i-engile iyanda ngokuthe ngcembe.
Ukuguqula idatha yoqobo ehanjiswe nguLidar kwisistim yokulungelelanisa kulo mzobo ungentla, kufuneka uluhlu lwezibalo. Umsebenzi wokuguqula umi ngolu hlobo lulandelayo (ukufumana iinkcukacha, nceda ubhekisele kwi-SDK):
Jonga uhlalutyo lwekhowudi
Ikhowudi yokutshekisha isebenzisa ukuqokelela kwebhayithi enye ukujonga ipakethi yedatha yangoku. I-header ye-packet ye-byte kunye nekhowudi yokukhangela ngokwayo ayithathi nxaxheba kumsebenzi wokutshekisha. Ifomula yesisombululo sekhowudi yokukhangela yile: 
- I-CheckSum = ADD1 ()
- = 1,2, ... ,
I-ADD1 yifomyula eqokelelweyo, ithetha ukuqokelela amanani ukusuka kwi-subscript 1 ukuya ekupheleni kwinto.
UHLAZIYO lwe-OTA
Phucula Ukuhamba komsebenzi
Thumela iProtocol
ISHATHI 4 OTA IFOMU YEPROTOKALI YEDATHA (ENDIAN ENCINANE)
| Ipharamitha | Ubude (BYTE) | Inkcazo |
| Ipakethi_Engasentla | 4 | Isihloko sepakethe yedatha, elungiswe njenge-A5A5A5A5 |
| Idilesi_yesixhobo | 1 | Ixela idilesi yesixhobo |
| Pakisha_ID | 1 | Isazisi sepakethi yedatha (uhlobo lwedatha) |
| Idatha_Len | 2 | Ubude bedatha yecandelo ledatha, 0-82 |
| Idatha | n | Idatha, n = Data_Len |
| Jonga_Ubungakanani | 1 | I-Checksum, i-checksum yee-bytes eziseleyo emva kokuba i-header isusiwe |
ISHATHI 5 YE-OTA HLAZIYA IMIYALELO
| Uhlobo lomyalelo | Pakisha_ID | Inkcazo |
| Qala_IAP | 0x0A | Thumela lo myalelo ukuqalisa i-IAP emva kombane |
| Ukubaleka_IAP | 0x0B | Qhuba i-IAP, uthumele iipakethi |
| Gqibezela_IAP | Ngama-0x0C | Ukuphela kwe-IAP |
| ACK_IAP | 0x20 | Impendulo ye-IAP |
| RESET_SYSTEM | 0x67 | Lungisa kwakhona kwaye uqalise kwakhona imodyuli kwidilesi ekhankanyiweyo |
Qala_IAP Umyalelo
Ukuthumela umyalelo
- Inxalenye yedatha ifomathi yedatha:
- Idatha[0~1]: Ukungagqibeki ngu 0x00;
- ULWAZI[2-17]: Yikhowudi yokuqinisekisa enobumba esisigxina:
- 0x73 0x74 0x61 0x72 0x74 0x20 0x64 0x6F 0x77 0x6E 0x6C 0x6F 0x61 0x64 0x00 0x00
- Jonga ukuthumela umyalezo
- 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
Ulwamkelo lomyalelo: Ngenxa yemisebenzi yecandelo le-FLASH, ukulibaziseka kwembuyekezo kude kwaye kuyaguquguquka phakathi kwe-80ms kunye ne-700ms)
Fumana ifomathi yedatha
- Idilesi: idilesi yemodyuli;
- ACK: Ukungagqibeki ngu-0x20, ebonisa ukuba ipakethe yedatha yipakethi yokuvuma; Idatha[0~1]: Ukungagqibeki ngu-0x00;
- Idatha[2]: 0x0A ibonisa ukuba umyalelo wokuphendula ngu-0x0A;
- Idatha[3]: I-0x01 ibonisa ukwamkelwa okuqhelekileyo, i-0 ibonisa ukwamkelwa okungaqhelekanga;
- Isalathiso sokufumana:
A5 A5 A5 A5 01 20 04 00 00 00 0A 01 30
Ukubaleka_IAP Umyalelo
Ukuthumela umyalelo
I-firmware iya kwahlulwa ngexesha lokuphucula, kwaye ii-byte ezimbini zokuqala zecandelo ledatha (Idatha) zibonisa ukutshatyalaliswa kweli candelo ledatha ngokumalunga ne-byte yokuqala ye-firmware.
- Idatha[0~1]:Package_Shift = Idatha[0]+ Data[1]*256;
- Idatha[2] ~Idatha[17]: yikhowudi yokuqinisekisa yomtya ezinzileyo:
- 0x64 0x6F 0x77 0x6E 0x6C 0x6F 0x61 0x64 0x69 0x6E 0x67 0x00 0x00 0x00 0x00 0x00 Data[18]~Data[81]: idatha ye-firmware;
- Jonga ukuthumela umyalezo
- 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 +
(Idatha[18]~Idatha[81]) + Khangela_Isixa
Ulwamkelo lomyalelo
- Idilesi: is idilesi yemodyuli;
- ACK: Ukungagqibeki ngu-0x20, ebonisa ukuba ipakethe yedatha yipakethi yokuvuma;
Idatha[0~1] : Package_Shift = Data[0]+ Data[1]*256 ibonisa i-firmware data offset yempendulo. Kunconywa ukugweba i-offset njengendlela yokukhusela xa ufumanisa impendulo ngexesha lokuphucula inkqubo.
- Idatha[2]=0x0B ibonisa ukuba umyalelo wokuphendula ngu-0x0B;
- Idatha[3]=0x01 ibonisa ukwamkelwa okuqhelekileyo, i-0 ibonisa ukwamkelwa okungaqhelekanga;
Isalathiso sokufumana
A5 A5 A5 A5 01 20 04 00 00 00 0B 01 31
Gqibezela_IAP Umyalelo
Ukuthumela umyalelo
- Idatha[0~1]: Ukungagqibeki ngu 0x00;
- Idatha[2] ~Idatha[17]: Yikhowudi yokuqinisekisa yomtya esisigxina:
0x63 0x6F 0x6D 0x70 0x6C 0x65 0x74 0x65 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00
Idatha[18] ~Idatha[21]: iflegi ye-encryption, uhlobo lwe-uint32_t, i-firmware efihliweyo yi-1, i-firmware engafihliweyo ngu-0;
Jonga ukuthumela umyalezo:
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 iflegi yofihlo) + Khangela_Isum
Ulwamkelo lomyalelo
- Fumana ifomathi yedatha:
- Idilesi: yidilesi yemodyuli;
- ACK: Ukungagqibeki ngu-0x20, ebonisa ukuba ipakethe yedatha yipakethi yokuvuma;
- Idatha[0~1]: Ukungagqibeki ngu 0x00;
- Idatha[2]: 0x0C ibonisa ukuba umyalelo wokuphendula ngu-0x0C;
- Idatha[3]: I-0x01 ibonisa ukwamkelwa okuqhelekileyo, i-0 ibonisa ukwamkelwa okungaqhelekanga;
- Jonga kumyalezo ofunyenweyo:
A5 A5 A5 A5 01 20 04 00 00 00 0C 01 32
RESET_SYSTEM Umyalelo
Nceda ujonge kwiSahluko 3.8 sokuSeta kwakhona iSistim Umyalelo ngeenkcukacha.
Q&A
- Umbuzo: Indlela yokugweba ukusetha kwakhona kuphumelele emva kokuthumela umyalelo wokusetha kwakhona? Ngaba kuyafuneka ulibaziseko?
- A: Ukuphunyezwa ngempumelelo kunokugwetywa ngokwepakethi yempendulo yomyalelo wokusetha kwakhona; kucetyiswa ukuba ungeze ukulibaziseka kwe-500ms emva kokufumana impendulo ngaphambi kokwenza imisebenzi elandelayo.
- Umbuzo: I-Modyuli yesi-4 ifumana idatha ye-port ye-serial engahambelani neprotocol emva kokusetha kwakhona, indlela yokujongana nayo?
- A: I-power-on log yemodyuli ngumtya wedatha ye-ASCII kunye neentloko ze-4 0x3E, ezingachaphazeli ukuhlanjululwa kwedatha eqhelekileyo kunye neentloko ze-4 0xA5, kwaye zinganakwa. Ngenxa yekhonkco lomzimba, iilogi zeNombolo ye-1 kunye ne-2 iimodyuli azikwazi ukufunyanwa.
- Umbuzo: Indlela yokujongana nayo ukuba inkqubo yokuphucula iphazamiseka kukungaphumeleli kombane kunye nokuqalisa kwakhona?
- A: Thumela kwakhona umyalelo we-Start_IAP ukuze uphucule kwakhona.
- Umbuzo: Sisiphi isizathu esinokubakho somsebenzi wophuculo olungaqhelekanga kwi-cascade state?
- A: Qinisekisa ukuba ikhonkco lomzimba lichanekile, njengokuba idatha yefu yeemodyuli ezintathu inokufunyanwa;
- Qinisekisa ukuba iidilesi zeemodyuli ezintathu azingqubani, kwaye ungazama ukwabela ngokutsha iidilesi;
- Lungisa kwakhona umnqongo ukuze uphuculwe kwaye emva koko uqale itrayi;
- Q: Kutheni le nto inombolo yenguqulo efundwayo 0 emva kokuphuculwa kwe-cascade?
- A: Kuthetha ukuba uphuculo lwemodyuli aluphumelelanga, abasebenzisi kufuneka baphinde basete imodyuli kwaye emva koko baphucule kwakhona.
QAPHELA
- Ngexesha lokusebenzisana nomyalelo kunye ne-GS2, ngaphandle komyalelo wokumisa iskena, eminye imiyalelo ayinakudityaniswa kwimo yokuskena, enokukhokelela ngokulula kwiimpazamo zokwahlulahlula imiyalezo.
- I-GS2 ayizukuqala ngokuzenzekelayo ukusuka xa umbane uvuliwe. Ifuna ukuthumela umyalelo wokuqala wokuskena ukungena kwimowudi yokuskena. Xa kufuneka uyeke ukuvela, thumela umyalelo wokuyeka ukuskena kwaye ungenise imo yokulala.
- Qala i-GS2 ngokwesiqhelo, inkqubo yethu ecetyiswayo yile:
Inyathelo lokuqala:
thumela i Fumana Idilesi yeSixhobo umyalelo wokufumana idilesi yesixhobo sangoku kunye nenani le-cascade, kwaye uqwalasele idilesi;
Inyathelo lesibini:
thumela umyalelo woguqulelo lokufumana ukufumana inombolo yoguqulelo;
Inyathelo lesithathu:
thumela umyalelo wokufumana iiparamitha zesixhobo ukufumana iiparamitha ze-engile zesixhobo kuhlalutyo lwedatha;
Inyathelo lesine:
thumela umyalelo wokuqala wokuskena ukufumana idata yelifu. - Iingcebiso kuyilo lwemathiriyeli yokuhambisa ukukhanya kwiifestile ze-GS2:
Ukuba i-window yembono yekhava yangaphambili yenzelwe i-GS2, kuyacetyiswa ukuba kusetyenziswe i-PC ene-infrared-permeable njengento yokuhambisa ukukhanya, kwaye indawo yokuhambisa ukukhanya iyadingeka ukuba ibe flat (i-flatness ≤0.05mm), kunye nayo yonke indawo Inqwelomoya kufuneka icace kwi-780nm ukuya kwi-1000nm band. Izinga lokukhanya likhulu kune-90%. - Inkqubo ecetyiswayo yokuvula nokucima i-GS2 ngokuphindaphindiweyo kwibhodi yokukhangela:
Ukuze kuncitshiswe ukusetyenziswa kwamandla ebhodi yokukhangela, ukuba i-GS2 idinga ukulayishwa kwaye icinywe ngokuphindaphindiweyo, kuyacetyiswa ukuba uthumele umyalelo wokumisa ukuskena (jonga icandelo 3.5) ngaphambi kokucima, kwaye emva koko uqwalasele i-TX kunye ne-RX ibhodi yokukhangela ukuya kwi-impedance ephezulu. Emva koko tsala i-VCC ephantsi ukuyicima. Ngexesha elizayo umbane uvuliwe, qala ukhuphe iVCC, emva koko uqwalasele i-TX kunye ne-RX njengemveliso eqhelekileyo kunye neendawo zokufaka, kwaye emva kokulibaziseka kwe-300ms, yenza intsebenziswano yomyalelo kunye nelaser yomgca. - Malunga nexesha elide lokulinda emva kokuba umyalelo ngamnye we-GS2 uthunyelwe:
- Fumana idilesi: ulibaziseko 800ms, fumana inguqulelo: ulibaziseko 100ms;
- Fumana iiparamitha: ukulibaziseka kwe-100ms, qalisa ukuskena: ukulibaziseka kwe-400ms;
- Yeka ukuskena: ukulibaziseka kwe-100ms, ukuseta izinga le-baud: ukulibaziseka kwe-800ms;
- Misela imodi edge: ukulibaziseka kwe-800ms, qalisa i-OTA: ukulibaziseka kwe-800ms;
HLAZIYA
| Umhla | Inguqulelo | Umxholo |
| 2019-04-24 | 1.0 | Qamba uyilo lokuqala |
|
2021-11-08 |
1.1 |
Guqula (Guqula inkqubo yenkqubo yokudibanisa ukudibanisa ekhohlo nasekunene idata yekhamera; Iingcebiso zokongeza izinto zefestile yembono; Yongeza umyinge webhaud
misela umyalelo) |
| 2022-01-05 | 1.2 | Guqula inkcazo yokufumana umyalelo wokufumana idilesi yesixhobo, kunye nenkcazo yeekhamera ezisekhohlo nasekunene |
| 2022-01-12 | 1.3 | Yongeza imowudi edge, yongeza i-K, B, inkcazo yokubala ye-BIAS |
| 2022-04-29 | 1.4 | Guqula inkcazo yesahluko 3.2: Fumana iVersion Information Command |
| 2022-05-01 | 1.5 | Lungisa indlela yoqwalaselo lwedilesi yomyalelo wokuqalisa ngokutsha othambileyo |
|
2022-05-31 |
1.6 |
1) Hlaziya icandelo 3.7
2) Icandelo 3.8 UKUSETHWA KWAKHONA komyalelo wongeza impendulo enye 3) Ukongeza kwiSahluko sesi-5 ukuphuculwa kwe-OTA |
| 2022-06-02 | 1.6.1 | 1) Guqula i-OTA yokuphucula ukuhamba komsebenzi
2) Guqula i-Q&A ye-OTA |
Amaxwebhu / Izibonelelo
 |
UPHUHLISO YDLIDAR GS2 Linear Array Solid LiDAR Sensor [pdf] Incwadi yokusebenzisa UPHUHLISO LWE-GS2 UPHUHLISO lwe-Linear Array Solid LiDAR Sensor, GS2 DEVELOPMENT, Linear Array Solid LiDAR Sensor, Array Solid LiDAR Sensor, Solid LiDAR Sensor, LiDAR Sensor, Sensor |
