OLEI LR-16F 3D sensọ LiDAR Data Ilana
Jọwọ ka iwe afọwọkọ yii ṣaaju lilo ọja fun iṣẹ ṣiṣe ọja to dara julọ.
Rii daju lati tọju itọnisọna yii fun itọkasi ọjọ iwaju.
Iru Asopọmọra
- Asopọmọra: RJ-45 boṣewa ayelujara asopo
- Ilana ipilẹ: Ilana intanẹẹti boṣewa UDP/IP, Data wa ni ọna kika kekere-endian, kekere baiti akọkọ
Data Packet kika
Pariview
Lapapọ ipari ti fireemu data jẹ 1248 awọn baiti, pẹlu:
- Akọsori fireemu: 42 baiti
- Dina data: 12X (2+2+96) = 1,200 baiti
- Akoko St.amp: 4 Baiti
- Aami ile-iṣẹ: 2 Awọn baiti
Akọsori
| Aiṣedeede | Gigun | Apejuwe |
|
0 |
14 |
Ethernet II pẹlu: MAC Nlọ: (6 Baiti) Mac Sourse: (6 Baiti)
Iru: (2 baiti) |
|
14 |
20 |
Ilana Intanẹẹti pẹlu:
Ẹya & Gigun Akọsori :(1 Baiti) Aaye Awọn iṣẹ Iyatọ: (1 Baiti) Lapapọ Gigun:(2 Baiti) Idanimọ: (2 baiti) Awọn asia: (1 baiti) Pipa Pipa: (1 Baiti) Akoko Lati Gbe: (1 Baiti) Ilana: (1 Baiti) Iṣayẹwo akọsori: (2 baiti) |
| Ibi IP: (4 Baiti)
Orisun IP: (4 baiti) |
||
|
34 |
8 |
olumulo DatagIlana àgbo pẹlu: Port Sourse: (2 Baiti) Ibudo Ilọsiwaju: (2 Baiti)
Data Gigun:(2 Baiti) Iye owo: (2 baiti) |
Itumọ Àkọsílẹ data
Awọn lesa pada data oriširiši 12 data ohun amorindun. Bulọọki data kọọkan bẹrẹ pẹlu idanimọ 2-baiti 0xFFEE, atẹle nipasẹ igun azimuth 2-baiti ati apapọ awọn aaye data 32. Lase pada iye ti kọọkan ikanni ni a 2-baiti ijinna iye ati ki o kan 1-baiti odiwọn reflectivity iye.
| Aiṣedeede | Gigun | Apejuwe |
| 0 | 2 | Flag, o jẹ nigbagbogbo 0xFFEE |
| 2 | 2 | Data igun |
| 4 | 2 | Ch0 Data Raging |
| 6 | 1 | Ch0 Ifojusi Data |
| 7 | 2 | Ch1 Data Raging |
| 9 | 1 | Ch1 Ifojusi Data |
| 10 | 2 | Ch2 Data Raging |
| 12 | 1 | Ch2 Ifojusi Data |
| – | – | – |
| 49 | 2 | Ch0 Data Raging |
| 51 | 1 | Ch15 Ifojusi Data |
| 52 | 2 | Ch0 Data Raging |
| 54 | 1 | Ch0 Ifojusi Data |
| 55 | 2 | Ch1 Data Raging |
| 57 | 1 | Ch1 Ifojusi Data |
| 58 | 2 | Ch2 Data Raging |
| 60 | 1 | Ch2 Ifojusi Data |
| – | – | – |
| 97 | 2 | Ch15 Data Raging |
| 99 | 1 | Ch15 Ifojusi Data |
Igun inaro jẹ asọye bi atẹle:
| ID lesa | Inaro Igun |
| 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° |
Akoko St.amp
| Aiṣedeede | Gigun | Apejuwe |
|
0 |
4 |
Akokoamp [31:0]: [31:20] iye iṣẹju-aaya [19:0] ti Microsecond |
Aami ile-iṣẹ
| Aiṣedeede | Gigun | Apejuwe |
| 0 | 2 | Ile-iṣẹ: (2 Baiti) 0x00,0x10 |
Example
Ibaraẹnisọrọ bèèrè-alaye package
Pariview
| Akọsori | Lidar Alaye | Alaye GPS |
| 42 Awọn baiti | 768Baiti | 74 Awọn baiti |
Gigun ti data package: 884 Bytes
Akiyesi: Nọmba ibudo ti package alaye ko le yipada, agbegbe ati awọn ibudo ibi-afẹde jẹ mejeeji 9866
Definition ti akọsori
| Aiṣedeede | Gigun | Apejuwe |
|
0 |
14 |
Ethernet II pẹlu: MAC Nlọ: (6 Baiti) Mac Sourse: (6 baiti)
Iru: (2 baiti) |
|
14 |
20 |
Ilana Ayelujara Pẹlu:
Ẹya & Gigun Akọsori :(1 Baiti) Aaye Awọn iṣẹ Iyatọ: (1 Baiti) Lapapọ Gigun:(2 Baiti) Idanimọ: (2 baiti) |
| Awọn asia: (1 baiti)
Pipa Pipa: (1 Baiti) Akoko Lati Gbe: (1 Baiti) Ilana: (1 Baiti) Checksum akọsori: (2 Baiti) Ibi IP: (4 baiti) Orisun IP: (4 baiti) |
||
|
34 |
8 |
olumulo DatagIlana Ilana Ramu Pẹlu: Ibudo Sourse:(2 Baiti) Ibudo Ilọsiwaju: (2 Baiti)
Data Gigun:(2 Baiti) Iye owo: (2 baiti) |
Itumọ Lidar Alaye
| Aiṣedeede | Gigun | Apejuwe |
| 0 | 6 | Koodu ile ise |
| 6 | 12 | Nọmba awoṣe |
| 18 | 12 | Nọmba jara |
| 30 | 4 | Orisun IP |
| 34 | 2 | Sourse data Port |
| 36 | 4 | Ibi IP |
| 40 | 2 | Nlo data Port |
| 42 | 6 | MAC orisun |
| 48 | 2 | Iyara mọto |
|
50 |
1 |
[7] Asopọ GPS, 0: Sopọ, 1: Ko si asopọ [6] Asia aṣiṣe Circuit oke 0: Deede, 1: Aṣiṣe [5:0] Ifipamọ |
|
51 |
1 |
Ṣiṣẹ GPS & Oṣuwọn Baud 0x00:GPS Agbara GPS Pipa
0x01: Agbara GPS Tan, Oṣuwọn Baud 4800 0x02: Agbara GPS Lori, Oṣuwọn Baud 9600 0x03: GPS Power Lori, Baud oṣuwọn 115200 |
| 52 | 1 | Ifipamọ |
| 53 | 1 | Ifipamọ |
| 54 | 2 | Oke Circuit otutu, DataX0.0625 ℃ |
| 56 | 2 | Iwọn otutu iyika isalẹ, DataX0.0625℃ |
| 58 | 2 | Ifipamọ |
| 60 | 32 | CH0-CH15 ikanni aimi aiṣedeede |
| 92 | 4 | Ifipamọ |
| 96 | 672 | Ifipamọ |
| 768 | 74 | Alaye GPS |
Example
Ṣeto ilana naa
Tẹle ilana UDP, Ilana iṣeto olumulo, kọnputa oke firanṣẹ awọn baiti 8
| Oruko | Adirẹsi | Data |
| Nọmba ti awọn baiti | 2 Awọn baiti | 6 Awọn baiti |
| Adirẹsi | Oruko | Itumọ Baiti [31:0] | |
| F000 | IP agbegbe | [47:16]= local_ip, [15:0] = local_port | |
| F001 | Latọna IP | [31:0] = remote_ip, [15:0] = remote_port | |
|
F002 |
Iyara, GPS ṣiṣẹ, oṣuwọn baud |
[47:32] =rom_speed_ctrl [31:24]=GPS_en 0x00 = pipa
0x01 = mu ṣiṣẹ ati pe oṣuwọn baud jẹ 4800 0x02 = ṣiṣẹ ati pe oṣuwọn baud jẹ 9600 0x03 = ṣiṣẹ ati iwọn baud 115200 [23:0] Ni ipamọ |
|
| Example: | |||
| ip agbegbe ati ibudo | F0 C00 A0 8 01 64 09 | 192.168.1.100 2368 | |
| Àkọlé ip ati ibudo | F0 C01 A0 8 01A 0 09 | 192.168.1.10 2368 | |
| Iyara yiyipo | F0 02 02 58 00 00 00 | iyara 600 | |
Example:
- IP agbegbe ati ibudo F0 00 C0 A8 01 64 09 40 192.168.1.100 2368
- Àkọlé ip ati ibudo F0 01 C0 A8 01 0A 09 40 192.168.1.10 2368
- Iyara yiyi F0 02 02 58 00 00 00 00 iyara 600
- Tun 3D LiDAR bẹrẹ nigbakugba ti iyipada ba ti pari.
- Iyara yiyipo aṣayan: 300 tabi 600. iyan baud oṣuwọn: 4800/9600/115200.
Ipoidojuko iyipada
Alaye ti o wa ninu package data LR-16F jẹ iye azimuth ati iye ijinna ti iṣeto ni eto ipoidojuko pola. O rọrun diẹ sii lati ṣe agbero iwoye onisẹpo mẹta nipasẹ data awọsanma aaye nipa yiyipada iye ipoidojuko pola si eto ipoidojuko Cartesian.
Awọn iye ti o wa loke ti o baamu si ikanni kọọkan ni a fihan ni tabili atẹle:
|
ikanni# |
Igun inaro
(ω) |
Igun petele
(a) |
Petele aiṣedeede
(A) |
Aiṣedeede inaro
(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 |
Akiyesi: Labẹ deede deede, igun petele α nikan nilo lati mu awọn paramita pọ si ninu tabili loke.
Ilana iṣiro fun awọn ipoidojuko aaye jẹ
Awọn itumọ:
- Iwajade ijinna ti a wiwọn nipasẹ ikanni kọọkan ti LiDAR ti ṣeto bi R. Akiyesi pe ẹyọkan ti titẹ sii LiDAR jẹ 2mm, jọwọ yipada si 1mm akọkọ
- Iyara yiyi ti LiDAR ti ṣeto bi H (nigbagbogbo 10Hz)
- Igun inaro ti ikanni kọọkan ti LiDAR ti ṣeto bi ω
- Iṣẹjade igun petele nipasẹ LiDAR ti ṣeto bi α
- Aiṣedeede petele ti ikanni kọọkan ti LiDAR ti ṣeto bi A
- Aiṣedeede inaro ti ikanni kọọkan ti LiDAR ti ṣeto bi B
- Eto ipoidojuko aaye ti ikanni kọọkan ti LiDAR ti ṣeto si X, Y, Z
NIPA Ile-iṣẹ
- Morpheus Tek
- Web: www.morpheustek.com
- Imeeli: sales@morpheustek.com
- TEL: (+86) 400 102 5850
Awọn iwe aṣẹ / Awọn orisun
 |
OLEI LR-16F 3D sensọ LiDAR Data Ilana [pdf] Afowoyi olumulo LR-16F, Ilana Data Ibaraẹnisọrọ Sensọ LiDAR 3D, Ilana Data Ibaraẹnisọrọ, Sensọ LiDAR 3D, Sensọ LiDAR, 3D LiDAR, Sensọ, LiDAR |
