Okuqukethwe fihla
1 I-OLEI LR-16F 3D LiDAR Iphrothokholi Yedatha Yokuxhumana Yenzwa
2 Ifomethi Yephakethe Ledatha
3 Iphakheji yolwazi lwephrothokholi yokuxhumana
4 Setha iphrothokholi
5 Qondisa ukuguqulwa
6 MAYELANA NENKAMPANI
7 Amadokhumenti / Izinsiza
7.1 Izithenjwa
8 Okuthunyelwe Okuhlobene

I-OLEI-logo

I-OLEI LR-16F 3D LiDAR Iphrothokholi Yedatha Yokuxhumana Yenzwa

I-OLEI-LR-16F-3D-LiDAR-Sensor-Communication-Data-Protocol-fig-1

Sicela ufunde leli bhukwana ngaphambi kokusebenzisa umkhiqizo ukuze uthole ukusebenza kahle komkhiqizo.
Qiniseka ukuthi ugcina leli bhukwana ukuze lisetshenziswe esikhathini esizayo.

Uhlobo Lwesixhumi

  1. Isixhumi: Isixhumi se-inthanethi esijwayelekile se-RJ-45
  2. Iphrothokholi eyisisekelo: Iphrothokholi ye-inthanethi evamile ye-UDP/IP, Idatha ikufomethi encane-endian, ibhayithi ephansi kuqala

Ifomethi Yephakethe Ledatha

Kuphelileview

I-OLEI-LR-16F-3D-LiDAR-Sensor-Communication-Data-Protocol-fig-2

Ubude obuphelele bohlaka lwedatha ngamabhayithi angu-1248, okuhlanganisa:

  • Unhlokweni wozimele: 42 byte
  • Ibhulokhi yedatha: 12X(2+2+96) = 1,200 amabhayithi
  • Isikhathi stamp: Amabhayithi angu-4
  • Uphawu lwefekthri: 2 Amabhayithi

Unhlokweni

I-Offset Ubude Incazelo
 

 

0

  

 

14

 I-Ethernet II ifaka phakathi: Indawo ye-MAC:(6 Byte) Sourse MAC:(6 Byte)

Uhlobo: (2 Byte)
 

 

 

 

 

 

14

  

 

 

 

 

 

20

 Iphrothokholi ye-inthanethi ifaka:

Inguqulo Nobude Besihloko :(1 Ibhayithi) Inkambu Yezinsizakalo Ezihlukene: (1 Ibhayithi) Ubude Obuphelele:(2 Ibhayithi)

Ukuhlonza: (2 Byte)

Amafulegi: (1 Ibhayithi)

I-Fragment Offse: (1 Byte) Isikhathi Sokuphila: (1 Byte) Iphrothokholi: (1 Byte)

IHeader Checksum: (2 Byte)
I-IP yendawo: (4 Byte)

Umthombo we-IP: (4 Byte)
 

 

34

  

 

8

 Umsebenzisi DatagI-ram Protocol ifaka phakathi: Imbobo ye-Sourse:(2 Byte) Imbobo Yendawo: (2 Byte)

Ubude Bedatha:(2 Amabhayithi)

I-Checksum: (2 Amabhayithi)

Incazelo yebhulokhi yedatha
Idatha ebuyisiwe nge-laser iqukethe amabhulokhi edatha ayi-12. Ibhulokhi ngayinye yedatha iqala ngesihlonzi esingu-2-byte esingu-0xFFEE, silandelwa i-engeli ye-azimuth engu-2-byte kanye nengqikithi yamaphoyinti edatha angu-32. Inani elibuyisiwe le-lase lesiteshi ngasinye liqukethe inani lebanga elingu-2-byte kanye nevelu yokulinganisa yokulinganisa engu-1-byte.

I-Offset Ubude Incazelo
0 2 Hlaba umkhosi, kuhlala kungu-0xFFEE
2 2 Idatha ye-Engeli
4 2 I-Ch0 Ukulinganisa Idatha
6 1 Idatha ye-Ch0 Reflectivity
7 2 I-Ch1 Ukulinganisa Idatha
9 1 Idatha ye-Ch1 Reflectivity
10 2 I-Ch2 Ukulinganisa Idatha
12 1 Idatha ye-Ch2 Reflectivity
– – –
49 2 I-Ch0 Ukulinganisa Idatha
51 1 Idatha ye-Ch15 Reflectivity
52 2 I-Ch0 Ukulinganisa Idatha
54 1 Idatha ye-Ch0 Reflectivity
55 2 I-Ch1 Ukulinganisa Idatha
57 1 Idatha ye-Ch1 Reflectivity
58 2 I-Ch2 Ukulinganisa Idatha
60 1 Idatha ye-Ch2 Reflectivity
– – –
97 2 I-Ch15 Ukulinganisa Idatha
99 1 Idatha ye-Ch15 Reflectivity

I-engeli eqondile ichazwa njengokulandelayo:

I-Laser ID I-engeli eqondile
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°

I-OLEI-LR-16F-3D-LiDAR-Sensor-Communication-Data-Protocol-fig-3

Isikhathi stamp

I-Offset Ubude Incazelo
 

0

  

4

 Isikhathiamp [31:0]: [31:20] count of Seconds [19:0] count of Microsecond

Uphawu lwemboni

I-Offset Ubude Incazelo
0 2 Ifekthri:(2 Byte)0x00,0x10

Example

I-OLEI-LR-16F-3D-LiDAR-Sensor-Communication-Data-Protocol-fig-4
I-OLEI-LR-16F-3D-LiDAR-Sensor-Communication-Data-Protocol-fig-5

Iphakheji yolwazi lwephrothokholi yokuxhumana

Kuphelileview

Unhlokweni Lidar Ulwazi Ulwazi lwe-GPS
42 Amabhayithi 768 Amabhayithi 74 Amabhayithi

Ubude bephakheji yedatha: 884 Bytes
Qaphela: Inombolo yembobo yephakeji yolwazi ayikwazi ukushintshwa, izimbobo zendawo neziqondiswe kuzo zombili ziyi-9866

Incazelo yesihloko

I-Offset Ubude Incazelo
 

 

0

  

 

14

 I-Ethernet II Ifaka phakathi: Indawo eyi-MAC:(6 Byte) Sourse MAC:(6 Byte)

Uhlobo: (2 Byte)
 

 

14

  

 

20

 Iphrothokholi Ye-inthanethi Ifaka:

Inguqulo Nobude Besihloko :(1 Ibhayithi) Inkambu Yezinsizakalo Ezihlukene: (1 Ibhayithi) Ubude Obuphelele:(2 Ibhayithi)

Ukuhlonza: (2 Byte)
Amafulegi: (1 Ibhayithi)

I-Fragment Offse: (1 Byte) Isikhathi Sokuphila: (1 Byte) Iphrothokholi: (1 Byte)

IHeader Checksum: (2 Byte) IP Indawo: (4 Byte)

Umthombo we-IP: (4 Byte)
 

 

34

  

 

8

 Umsebenzisi DatagIphrothokholi yenqama Ifaka phakathi: Imbobo ye-Sourse:(2 Byte) Indawo okuyiwa kuyo: (2 Byte)

Ubude Bedatha:(2 Amabhayithi)

I-Checksum: (2 Amabhayithi)

Incazelo ye-Lidar Info

I-Offset Ubude Incazelo
0 6 Ikhodi Yezimboni
6 12 Inombolo Yemodeli
18 12 Inombolo yochungechunge
30 4 I-IP eyimfihlo
34 2 Imbobo yedatha ye-Sourse
36 4 I-IP yendawo
40 2 Imbobo yedatha yendawo
42 6 Umthombo we-MAC
48 2 Isivinini seMoto
 

50

  

1

 [7] GPS Connection, 0: Ixhunyiwe, 1: Alukho uxhumano [6] Ifulegi lephutha lesekethe ephezulu 0: Okujwayelekile, 1: Iphutha [5:0] Gcina
 

 

51

  

 

1

 I-GPS Ivumela & Isilinganiso se-Baud 0x00: I-GPS GPS Amandla Avaliwe

0x01:Amandla e-GPS, izinga le-Baud 4800 0x02:Amandla e-GPS avuliwe, izinga le-Baud 9600

0x03:I-GPS Power On, isilinganiso se-Baud 115200
52 1 Gcina
53 1 Gcina
54 2 I-Top circuit Temperature, i-DataX0.0625℃
56 2 I-Bottom circuit Temperature, i-DataX0.0625℃
58 2 Gcina
60 32 I-CH0-CH15 Isiteshi esimile
92 4 Gcina
96 672 Gcina
768 74 Imininingwane ye-GPS

Example

I-OLEI-LR-16F-3D-LiDAR-Sensor-Communication-Data-Protocol-fig-6 I-OLEI-LR-16F-3D-LiDAR-Sensor-Communication-Data-Protocol-fig-7

Setha iphrothokholi

Landela iphrothokholi ye-UDP, iphrothokholi yokusetha umsebenzisi, ikhompuyutha ephezulu ithumela amabhayithi ayi-8

Igama Ikheli Idatha
Inombolo yamabhayithi 2 Amabhayithi 6 Amabhayithi
Ikheli Igama Incazelo ye-Byte [31:0]
F000 I-IP yendawo [47:16]=local_ip，[15:0] =imbobo_yasendaweni
F001 I-IP yesilawuli kude [31:0]=remote_ip，[15:0]=imbobo_ekude
 

 

 

F002

  

 

 

Isivinini, i-GPS vumela, izinga le-baud

 [47:32] =rom_speed_ctrl [31:24]=GPS_zu 0x00 = icishiwe

0x01 = inikwe amandla futhi izinga le-baud lingu-4800 0x02= linikwe amandla futhi izinga le-baud ngu-9600 0x03 = linikwe amandla kanye nesilinganiso se-baud esingu-115200

[23:0]Bekelwe
Example:
I-ip yendawo kanye nembobo F0 00 C0 A8 01 64 09 40 192.168.1.100 2368
I-ip eqondiwe kanye nembobo F0 01 C0 A8 01 0A 09 40 192.168.1.10 2368
Isivinini esijikelezayo F0 02 02 58 00 00 00 00 isivinini 600

Example:

  • I-ip yendawo kanye nechweba F0 00 C0 A8 01 64 09 40 192.168.1.100 2368
  • I-ip eqondiwe kanye nechweba F0 01 C0 A8 01 0A 09 40 192.168.1.10 2368
  • Ijubane elijikelezayo F0 02 02 58 00 00 00 00 isivinini 600
  • Qala kabusha i-3D LiDAR isikhathi ngasinye lapho ukuguqulwa kuqedwa.
  • Isivinini esijikelezayo ongasikhetha: 300 noma 600. izinga le-baud ozikhethela:4800/9600/115200 .

Qondisa ukuguqulwa

Ulwazi olukuphakeji yedatha ye-LR-16F yinani le-azimuth kanye nenani lebanga elisungulwe ohlelweni lwe-polar coordinate. Kungcono kakhulu ukwakha isigcawu esinezinhlangothi ezintathu ngokusebenzisa idatha yefu lephuzu ngokuguqula inani le-polar coordinate libe uhlelo lokuxhumanisa lwe-Cartesian.
Amanani angenhla ahambisana nesiteshi ngasinye akhonjiswe kuthebula elilandelayo:

 

Isiteshi#

 I-engeli eqondile

(ω)

 I-engeli evundlile

(α)

 I-offset evundlile

(A)

 I-offset eqondile

(B)
I-CH0 -15° α 21 mm 5.06 mm
I-CH1 1° α+1*0.00108*H 21 mm - 9.15 mm
I-CH2 -13 α+2*0.00108*H 21 mm 5.06 mm
I-CH3 3° α+3*0.00108*H 21 mm - 9.15 mm
I-CH4 -11 α+4*0.00108*H 21 mm 5.06 mm
I-CH5 5° α+5*0.00108*H 21 mm - 9.15 mm
I-CH6 -9 α+6*0.00108*H 21 mm 5.06 mm
I-CH7 7° α+7*0.00108*H 21 mm - 9.15 mm
I-CH8 -7 α+8*0.00108*H - 21 mm 9.15 mm
I-CH9 9° α+9*0.00108*H - 21 mm - 5.06 mm
I-CH10 -5 α+10*0.00108*H - 21 mm 9.15 mm
I-CH11 11° α+11*0.00108*H - 21 mm - 5.06 mm
I-CH12 -3 α+12*0.00108*H - 21 mm 9.15 mm
I-CH13 13° α+13*0.00108*H - 21 mm - 5.06 mm
I-CH14 -1 α+14*0.00108*H - 21 mm 9.15 mm
I-CH15 15° α+15*0.00108*H - 21 mm - 5.06 mm

Qaphela: Ngaphansi kokunemba okuvamile, i-engeli evundlile α idinga kuphela ukukhulisa amapharamitha kuthebula elingenhla.

Ifomula yokubala yezixhumanisi zesikhala ithi

I-OLEI-LR-16F-3D-LiDAR-Sensor-Communication-Data-Protocol-fig-9

Izincazelo:

  • Ukukhishwa kwebanga elilinganisiwe ngesiteshi ngasinye se-LiDAR kusethwe njengo-R. Qaphela ukuthi iyunithi yokokufaka kwe-LiDAR ingu-2mm, sicela uguqulele ku-1mm kuqala.
  • Isivinini esijikelezayo se-LiDAR sisethwe njengo-H (imvamisa i-10Hz)
  • I-engeli eqondile yesiteshi ngasinye se-LiDAR isethwe ngokuthi ω
  • Ukukhishwa kwe-engeli evundlile yi-LiDAR kusethwe njengo-α
  • I-offset evundlile yesiteshi ngasinye se-LiDAR isethwe njengo-A
  • I-offset eqondile yesiteshi ngasinye se-LiDAR isethwe njengo-B
  • Uhlelo lokuxhumanisa indawo lwesiteshi ngasinye se-LiDAR lusethwe ku-X, Y, Z

    I-OLEI-LR-16F-3D-LiDAR-Sensor-Communication-Data-Protocol-fig-8

MAYELANA NENKAMPANI

Amadokhumenti / Izinsiza

I-OLEI LR-16F 3D LiDAR Iphrothokholi Yedatha Yokuxhumana Yenzwa [pdf] Imaniwali yosebenzisayo
LR-16F, 3D LiDAR Iphrothokholi Yedatha Yezinzwa, Iphrothokholi Yedatha Yokuxhumana, Inzwa ye-3D LiDAR, Inzwa ye-LiDAR, i-3D LiDAR, Inzwa, i-LiDAR

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