21
composed of 16-bit unsigned data, that is: 0x0218, which is converted to decimal
distance value: 536 cm. The last byte is the decimal part, 0x32 equals 50 in decimal,
that is, 50*1/256 cm=0.1953125 cm. Then the two parts add up to 536. 1953125 cm.
Byte 7
represents the first echo strength, and the value range is 0-255. (Echo strength
can reflect the energy reflection characteristics of the measured object in the actual
measurement environment. Therefore, the echo strength can be used to distinguish
objects with different reflection characteristics.)
Byte 8, Byte 9 and Byte 10
represent the distance value of the second echo, the most
significant byte of which is stored at the smallest memory address and the least
significant byte at the largest. The two high-order bytes are the integer part, whose unit
is “cm”; and the last byte is the decimal part, whose unit is 1/256 cm. To analyze the
distance value, for example: the distance value in the obtained data packet is
represented by the hexadecimal number 0x02, 0x18, 0x32, and the first two bytes are
composed of 16-bit unsigned data, that is: 0x0218, which is converted to decimal
distance value: 536 cm. The last byte is the decimal part, 0x32 equals 50 in decimal,
that is, 50*1/256 cm = 0.1953125 cm. Then the two parts add up to 536. 1953125 cm.
Byte 11
represents the second echo strength, and the value range is 0-255. (Echo
strength can reflect the energy reflection characteristics of the measured object in the
actual measurement environment. Therefore, the echo strength can be used to
distinguish objects with different reflection characteristics.)
Byte 12, Byte 13 and Byte 14
represent the distance value of the third echo, the most
significant byte of which is stored at the smallest memory address and the least
significant byte at the largest. The two high-order bytes are the integer part, whose unit
is “cm”; and the last byte is the decimal part, whose unit is 1/256 cm. To analyze the
distance value, for example: the distance value in the obtained data packet is
represented by the hexadecimal number 0x02, 0x18, 0x32, and the first two bytes are
composed of 16-bit unsigned data, that is: 0x0218, which is converted to decimal
distance value: 536 cm. The last byte is the decimal part, 0x32 equals 50 in decimal,
that is, 50*1/256 cm = 0.1953125 cm. Then the two parts add up to 536. 1953125 cm.
Byte 15
represents the third echo strength, and the value range is 0-255. (Echo strength
can reflect the energy reflection characteristics of the measured object in the actual
measurement environment. Therefore, the echo strength can be used to distinguish
objects with different reflection characteristics.)
Azimuth
The resolution of the horizontal angle value is determined according to the motor speed,
refer to the “specification” for details. The horizontal angle defines the right side of the
Lidar as 0°, the left side as 180°, and the vertical direction as 90°. The range of the
Lidar’s horizontal direction is 30° to 150°, as shown in the figure below.
