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User Manual    LR-16F 

OMEN-16F-202012 

目录 

1.

 

Document description

 .............................................................................................................................................. 1 

2.

 

Safety Instruction

 ...................................................................................................................................................... 1 

3.

 

Working Principle

 ..................................................................................................................................................... 1 

4.

 

Installation and operation

 ........................................................................................................................................ 2 

4.1.

 

Mechanical interface

 ............................................................................................................................................ 2 

4.2.

 

Electrical interface

 ................................................................................................................................................ 3 

4.2.1.

 

Definition of aviation plugin

 ......................................................................................................................... 3 

4.2.2.

 

Definition of GPS

 ............................................................................................................................................ 4 

4.3.

 

Communication interface

 .................................................................................................................................... 5 

5.

 

Serial port and PPS

 ................................................................................................................................................... 6 

6.

 

Definition of vertical angle

 ..................................................................................................................................... 7 

7.

 

Format of data package

 ............................................................................................................................................ 8 

7.1.

 

Communication protocol-data package

 ........................................................................................................... 8 

7.1.1.

 

Overview

 ............................................................................................................................................................ 8 

7.1.2.

 

Header File

 ........................................................................................................................................................ 9 

7.1.3.

 

Time stamp

 ..................................................................................................................................................... 10 

7.1.4.

 

Factory mark

 .................................................................................................................................................. 10 

7.2.

 

Communication protocol-information package

 .......................................................................................... 10 

7.2.1.

 

Overview

 ......................................................................................................................................................... 10 

7.2.2.

 

Definition of header

 ...................................................................................................................................... 11 

7.2.3.

 

Definition of Lidar Info

 ............................................................................................................................... 11 

7.3.

 

Setup the protocol

 .............................................................................................................................................. 12 

8.

 

Numerical calculation

 ........................................................................................................................................... 13 

8.1.

 

Coordinate conversion

 ...................................................................................................................................... 13 

8.2.

 

Azimuth

 ............................................................................................................................................................... 14 

8.3.

 

Azimuth interpolation

 ....................................................................................................................................... 14 

8.4.

 

Distance

 ............................................................................................................................................................... 15 

8.5.

 

Time stamp

 .......................................................................................................................................................... 15 

8.6.

 

Emission time

 ..................................................................................................................................................... 15 

9.

 

Parameter configuration of upper computer software

 ................................................................................... 16 

9.1.

 

Display software

 ................................................................................................................................................ 16 

9.2.

 

Configuration software

 ..................................................................................................................................... 17 

9.3.

 

ROS driver package

 .......................................................................................................................................... 18 

10.

 

Troubleshooting

 ................................................................................................................................................. 18 

Appendix A: Data Package

 ........................................................................................................................................... 19 

Appendix B: Mechanical Dimensions

 ........................................................................................................................ 22 

Appendix C: Timetable

 .................................................................................................................................................. 23 

Appendix D: GPS code analysis

 .................................................................................................................................. 24 

Appendix E: analysis of 3D lidar coordinate code

 .................................................................................................. 24 

Appendix F: analysis of interpolation code

 ............................................................................................................... 25 

Appendix G:ROS

............................................................................................................................................................. 26 

G.1  Install software

 ........................................................................................................................................................ 26 

G.2 Construction

 .............................................................................................................................................................. 26 

G.3 Operation

 ................................................................................................................................................................... 26 

G.4 Real-time display

 ..................................................................................................................................................... 27 

Appendix H: Optical Avoidance Zone

 ........................................................................................................................ 27 

 

Содержание LR-16F

Страница 1: ...sing Reality Lidar Sensors LR 16F User Manual Please read this user manual for best product performance before using the product Be sure to keep this manual properly for future reference OMEN 16F 2020...

Страница 2: ...2 2 Definition of header 11 7 2 3 Definition of Lidar Info 11 7 3 Setup the protocol 12 8 Numerical calculation 13 8 1 Coordinate conversion 13 8 2 Azimuth 14 8 3 Azimuth interpolation 14 8 4 Distanc...

Страница 3: ...ulations is not covered by the warranty 2 Safety Instruction Pay attention to laser radiation This product contains invisible Class 1 laser Do not dissemble the cover of the device without authorizati...

Страница 4: ...Flight principle the flight speed and time of the laser beam The calculation method is as follows 2 D Detection range T Flight time C Speed of light 4 Installation and operation 4 1 Mechanical interfa...

Страница 5: ...female plugs of the aviation plugin are aligned The aviation plug has a total of 12 PIN among which PIN9 and PIN10 have two ground wires in parallel and PIN11 and PIN12 have two power wires in parall...

Страница 6: ...N 4 Latitude Hemisphere N Northern Hemisphere or S Southern Hemisphere 5 12342 2488 5 Longitude dddmm mmmm degree and minute format the front 0 will also be transmitted 6 W 6 Longitude hemisphere E ea...

Страница 7: ...put package are mainly divided into data package and information package the port number of the data package is 2368 and the port number of the information package is 9866 The IP address settings on t...

Страница 8: ...of computer IP setting 5 Serial port and PPS The serial port and PPS are mainly used when connecting to GNSS equipment In order to synchronize the lidar clock with GNSS standard time signal provided...

Страница 9: ...of the rising edge of the synchronous pulse Figure 8 PPS synchronous sequence The baud rate of the serial port has the following options 4800 9600 115200bps 8bit data bit no parity bit stop bit 1 6 De...

Страница 10: ...format with the low byte in the front and the high byte in the back 7 1 Communication protocol data package 7 1 1 Overview The specific information stored in the data package is the distance value ca...

Страница 11: ...0 14 Ethernet II include Destination MAC 6 Byte Sourse MAC 6 Byte Type 2 Byte 14 20 Internet Protocol include Version Header Length 1 Byte Differentiated Services Field 1 Byte Total Length 2 Byte Ide...

Страница 12: ...reflectance data 10 2 Ch2 distance data 12 1 Ch2 reflectance data 49 2 Ch15 distance data 51 1 Ch15 reflectance data 52 2 Ch0 distance data 54 1 Ch0 reflectance data 55 2 Ch1 distance data 57 1 Ch1 r...

Страница 13: ...lags 1 Byte Fragment Offse 1 Byte Time to Live 1 Byte Protocol 1 Byte Header Checksum 2 Byte Destination IP 4 Byte Sourse IP 4 Byte 34 8 User Datagram Protocol include Sourse Port 2 Byte Destination P...

Страница 14: ...l Follow the UDP protocol user setup protocol upper computer sends 8 bytes Name address data number of bytes 2 bytes 6 bytes address Name Byte meaning 31 0 F000 IP Local IP 47 16 local_ip 15 0 local_p...

Страница 15: ...0 00108 H 21mm 9 15mm CH6 9 6 0 00108 H 21mm 5 06mm CH7 7 7 0 00108 H 21mm 9 15mm CH8 7 8 0 00108 H 21mm 9 15mm CH9 9 9 0 00108 H 21mm 5 06mm CH10 5 10 0 00108 H 21mm 9 15mm CH11 11 11 0 00108 H 21mm...

Страница 16: ...terchange of high byte and low byte 0x63 0x21 3 Combine into an unsigned hexadecimal number 0x6321 4 Converted to decimal number 25377 5 Multiply by the minimum resolution 0 01 6 Result 253 77 The 0 o...

Страница 17: ...32 Calculation of second 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 Second uint16 Convert from binary to decimal 258 unit s 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 1 0 0 1 0 0 1 0 0 0 0 1 1 Convert from binary to...

Страница 18: ...ckage The true valueTreal is real Timestamp shift 9 Parameter configuration of upper computer software Upper computer software is divided into display software configuration software and ROS driver pa...

Страница 19: ...Lidar IP Lidar Port Lidar Port Remote Ip host IP Remote Port host port Motor RPM Lidar rotating speed optional 300 600 GPS Enable GPS port select Disable if there s no GPS Instructions 1 Connect the l...

Страница 20: ...sed by limited authority under Ubuntu Please run the instruction chmod R 777 src to obtain executable permissions 10 Troubleshooting Problem Method Lidar fails to scan Verify whether the power supply...

Страница 21: ...User Manual LR 16F OMEN 16F 202012 19 Appendix A Data Package...

Страница 22: ...User Manual LR 16F OMEN 16F 202012 20...

Страница 23: ...User Manual LR 16F OMEN 16F 202012 21...

Страница 24: ...User Manual LR 16F OMEN 16F 202012 22 Appendix B Mechanical Dimensions...

Страница 25: ...43 345 447 549 651 753 855 957 1059 1161 14 42 144 246 348 450 552 654 756 858 960 1062 1164 15 45 147 249 351 453 555 657 759 861 963 1065 1167 Second Firing 0 51 153 255 357 459 561 663 765 867 969...

Страница 26: ...exBytes Reverse ToArray Second uint16 TimeS BitConverter ToUInt16 a 0 Microsecond uint32 TimeM int BitConverter ToUInt32 b 0 Second TimeS Microsecond TimeM ToDebug return true Appendix E analysis of 3...

Страница 27: ...Sin ang offsetH Math Sin ang Y int R Math Cos wTemp Math Cos ang offsetH Math Cos ang Z float R Math Sin wTemp offsetV Color Color FromArgb 100 int Reflection 0 Appendix F analysis of interpolation co...

Страница 28: ...on under ROS1 0 version G 2 Construction 1 Create a workspace in the ubuntu system where the ROS environment is installed mkdir p ole3d_ws src 2 Unzip the driver folder src ROS to ole2d_ws cp src ole2...

Страница 29: ...pen a new terminal and run rviz rosrun rviz rviz f olei_lidar 2 Add a topic PointCloud2 in rviz 3 If there is an error prompt no fixed frame use the instruction rosrun tf static_transform_publisher 0...

Страница 30: ...cifications etc without notice Hangzhou Ole systems Co Ltd No 35 Jiuhuan Road Jianggan District Hangzhou City Zhejiang Province China Web www ole systems com Email sales ole systems com TEL 86 400 102...

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