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LeddarOne

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Содержание LeddarOne

Страница 1: ...LeddarOne USER GUIDE...

Страница 2: ...Page Intentionally Left Blank...

Страница 3: ...possibility of such damages The information contained herein is the property of the Company and shall not be reproduced in whole or in part without prior written approval of the Company The Company a...

Страница 4: ...nnecting to the Module 14 Measurement and Settings 16 3 1 Distance Measurement 16 3 2 Data Description 16 3 3 Acquisition Settings 17 3 3 1 LED Intensity 19 3 3 2 Smoothing 19 3 4 Measurement Rate 20...

Страница 5: ...se Manager 38 4 4 11 Device State 39 4 4 12 Calibration of the Static Noise 40 Specifications 42 5 1 General 42 5 2 Mechanical 42 5 3 Electrical 42 5 4 Optical 42 5 5 Performance 43 5 5 1 Accuracy 43...

Страница 6: ...range of finished products 1 1 Description The Leddar One package contains the sensor module with the following features 3 conic beam Beam height 3 Real time data acquisition through serial port 3 3V...

Страница 7: ...LeddarOne User Guide Page 7 of 52 The following is a description of the main components of the Leddar One Figure 1 Leddar One Module 3 optics...

Страница 8: ...der Pin Function Description 1 GND Ground 2 IRQ Interrupt Signal active high Set when a new measurement is available reset when data read from Modbus link 3 Supply 5V 4 RX or RS 485 Serial port input...

Страница 9: ...ddar Configurator software for upgrading the module firmware Firmware upgrade using the following procedure should be performed only when instructed by LeddarTech s technical support A PC with a seria...

Страница 10: ...ces measurements at a configurable measurement rate The measurements provide the distance of detected objects in the conic beam Note The sensor measurement rate varies according to the oversampling an...

Страница 11: ...Full waveform analysis enables detection and distance measurement of multiple objects in the beam provided that foreground objects do not fully obscure objects behind them Oversampling and accumulatio...

Страница 12: ...rned during a calibration procedure during which the waveform of the signal is captured while the reception lens of the sensor is shielded from the backscattered light The sensor comes with a static n...

Страница 13: ...accuracy better than 10 cm even with a strongly clipped signal 1 3 5 Temperature Compensation The signal processing algorithm also embeds an advanced temperature compensation scheme which attenuates...

Страница 14: ...you have downloaded the file simply double click on it and follow on screen instructions Figure 5 Leddar Software Setup Dialog Box The installer creates an icon on the computer desktop and in the Star...

Страница 15: ...ide Page 15 of 52 Figure 6 Connecting to a Device 3 In the Connection window select your serial port and click Connect Figure 7 Connection Window The main window displays the detections green bar in t...

Страница 16: ...from the surface of the module PCB Figure 8 Distance Measurement The dashed lines illustrate the full beam and the solid line indicates the distance measured by the sensor 3 2 Data Description Measur...

Страница 17: ...litude Table 3 Raw Detection Field Description Field Description Segment Beam segment in which the object is detected Always 1 for the Leddar One Distance Distance of the detected object from the sens...

Страница 18: ...e stabilization should be configured with a value lower than 0 or simply deactivated Static Noise Removal Disabling of the static noise removal algorithm The static noise in the full waveform signal i...

Страница 19: ...The automatic LED power mode will select a LED intensity that provides the highest intensity that avoids the saturation conditions NOTE When a strongly reflective or near object is present in the fiel...

Страница 20: ...ised to decrease the value of the stabilization parameter or to disable the stabilization algorithm Select the Disabled check box or set the value at 17 to disable smoothing 3 4 Measurement Rate The s...

Страница 21: ...settings are available to adjust data acquisition through the 3 3 V UART or RS 485 link The baud rate can be configured to the desired value Parity data bits and stop bits are fixed at None 8 1 A bau...

Страница 22: ...rn 0xFF otherwise the sensor is defective 20 11 The software part number as an ASCII string 31 11 The hardware part number as an ASCII string 39 8 The full firmware version as 4 16 bit values 43 4 The...

Страница 23: ...on Exponent 0 12 This register contains the power of 2 of the number of accumulation For example if this register contains 10 1024 accumulations will be performed 1 Oversampling exponent 0 3 This regi...

Страница 24: ...subfolder of the installation folder This program implements the Modbus communication with the Leddar One sensor module The example is heavily commented and easy to understand It is a command line ap...

Страница 25: ...he installation is completed you can connect to the sensor 4 2 Connecting to the Module To configure the sensor you must first connect to it To connect to the sensor 1 In Leddar Configurator click the...

Страница 26: ...Page 26 of 52 54A0025 5 102018 LeddarTech Inc 3 The Leddar Configuration main window changes to display sensor information Figure 13 Leddar Configurator Main Window...

Страница 27: ...form as well as in a bar in a distance gauge If present the second and third detections will be displayed as thin bars in the gauge as shown in Figure 14 The distance gauge is color coded to represen...

Страница 28: ...Device View Replay Save Configuration Load Configuration Start Recording Start Data Logging Quit Disconnect Configuration Acquisition Communication Action Reset Update Calibration only with integrator...

Страница 29: ...nges you made to the parameters to sensor Until this button is clicked changes are local to the PC and do not affect sensor behavior Undo Click the undo button to erase all the changes you have made t...

Страница 30: ...mmunication Configuration The numbers are modified by using the arrows or by entering the value manually Table 11 Sensor Serial Port Setting Description Parameters Values Baud Rate Transmission rate o...

Страница 31: ...and Loading a Configuration The software configuration for a device can be saved to a file This allows to save a configuration and restore it in case of system failure or in case the user wants to rev...

Страница 32: ...be available 3 In the Directory dialog box select the path where you want to save the record file Figure 19 Record Settings Dialog Box 4 In the Maximum file size box set the maximum file size by using...

Страница 33: ...nd extract part of the recording The Record Replay dialog box offers the same functions as a regular video player there is a stop button a play button and frame by frame forward and backward buttons T...

Страница 34: ...Set the Position slider to the position where you want the file segment to start and click the Start button 2 Set the Position slider to the position where you want the file segment to stop and click...

Страница 35: ...m Status 422530 1 127 42 6 95 1 The time of the detection is 422530 milliseconds from the time the sensor was started The location of the detection is segment 1 The amplitude of the detection is 127 4...

Страница 36: ...t file is saved in the selected directory 4 4 7 Raw Detection The Raw Detections dialog box allows you to view detection values in many ways It provides filters to isolate detection parameters To open...

Страница 37: ...Min Distance box will filter detections at a distance smaller than that value For example if the minimum distance is set to 10 only the detections at a distance of 10 and more will be displayed The v...

Страница 38: ...ned by clicking the Preferences command on the Settings menu Figure 27 Preference Dialog Box Under General Windows click on Restore window position and size on startup checkbox in order to keep the Le...

Страница 39: ...dow Temperature This section indicates the temperature of the device Timers Load This feature gives the time in days hours minutes and seconds since the last sensor was started and also gives the actu...

Страница 40: ...mpleted the user cannot roll back to the factory calibration To perform the calibration a shield must be beforehand installed on the reception optics to block scattered light as it is shown in the fol...

Страница 41: ...ge 41 of 52 Figure 31 Calibration Window A progress bar will show the progression of the calibration It should take about 1 minute to execute the calibration The calibration can be canceled at any tim...

Страница 42: ...alf duplex 9600 to 115200 BPS RS 485 2 wire half duplex 9600 to 115200 BPS Operating temperature 45 C to 85 C 5 2 Mechanical Table 13 Mechanical Specifications Diameter 50 8 mm Depth 30 6 mm Weight 14...

Страница 43: ...the sensor Range maximum LED intensity See Figure 34 Distance Measurement Settling Time on Cold Startup 10 s Using a target returning a signal stronger than 5 counts Measured with a 5x7 cm reflective...

Страница 44: ...5 5 3 Range Figure 34 Signal Amplitude versus Target Reference Distance accumulation 256 and oversampling 8 4 4 4 6 4 8 5 5 2 5 4 5 6 5 8 6 0 3 0 2 0 1 0 0 1 0 2 0 3 0 4 Supply Voltage V Distance Off...

Страница 45: ...robust detections and to minimize false detections caused by noise in the full waveform signal They are presented in Figure 35 Figure 35 Threshold Tables The multiple lines on each graph present the...

Страница 46: ...roup 1 class A 30 MHz 1 GHz N A Pass Radiated Emissions ICES 003 2012 Class A 30 MHz 1 GHz N A Pass Electrostatic Discharge Immunity IEC61000 4 2 2008 Contact 4 kV Air 8 kV B Pass Radiated Electromagn...

Страница 47: ...LeddarOne User Guide Page 47 of 52 5 7 Dimensions Figure 36 Dimensions...

Страница 48: ...ow up on your requests Find quick answers to your questions Get valuable updates Or by contacting us at 1 418 653 9000 1 855 865 9900 8 30 a m 5 00 p m Eastern Standard Time To facilitate the support...

Страница 49: ...ontrol 31 Intensity 18 Pulse Rate 42 Load CPU 39 Loading a configuration 31 M MCU 10 Measurement Rate 31 Modbus protocol 22 O Operating temperature 42 Oversampling 18 P Part number 40 Photodetector 42...

Страница 50: ...cumulations 18 LED Intensity 18 Oversampling 18 Point count 18 Smoothing 18 Static Noise Removal 18 Signal display 27 Smoothing 18 Static Noise Removal 18 T Temperature of a device 39 Temperature sens...

Страница 51: ...LeddarOne User Guide Page 51 of 52 Page Intentionally Left Blank...

Страница 52: ...Page 52 of 52 54A0025 5 102018 LeddarTech Inc...

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