OLEI LR-16F Скачать руководство пользователя страница 25

 

User Manual    LR-16F 

OMEN-16F-202012 

23 

Appendix C: Timetable 

 

ID 

Data Block 

 

 

10 

11 

First 

Firing 

102 

204 

306 

408 

510 

612 

714 

816 

918 

1020  1122 

105 

207 

309 

411 

513 

615 

717 

819 

921 

1023  1125 

108 

210 

312 

414 

516 

618 

720 

822 

924 

1026  1128 

111 

213 

315 

417 

519 

621 

723 

825 

927 

1029  1131 

12 

114 

216 

318 

420 

522 

624 

726 

828 

930 

1032  1134 

15 

117 

219 

321 

423 

525 

627 

729 

831 

933 

1035  1137 

18 

120 

222 

324 

426 

528 

630 

732 

834 

936 

1038  1140 

21 

123 

225 

327 

429 

531 

633 

735 

837 

939 

1041  1143 

24 

126 

228 

330 

432 

534 

636 

738 

840 

942 

1044  1146 

27 

129 

231 

333 

435 

537 

639 

741 

843 

945 

1047  1149 

10 

30 

132 

234 

336 

438 

540 

642 

744 

846 

948 

1050  1152 

11 

33 

135 

237 

339 

441 

543 

645 

747 

849 

951 

1053  1155 

12 

36 

138 

240 

342 

444 

546 

648 

750 

852 

954 

1056  1158 

13 

39 

141 

243 

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 

51 

153 

255 

357 

459 

561 

663 

765 

867 

969 

1071  1173 

54 

156 

258 

360 

462 

564 

666 

768 

870 

972 

1074  1176 

57 

159 

261 

363 

465 

567 

669 

771 

873 

975 

1077  1179 

60 

162 

264 

366 

468 

570 

672 

774 

876 

978 

1080  1182 

63 

165 

267 

369 

471 

573 

675 

777 

879 

981 

1083  1185 

66 

168 

270 

372 

474 

576 

678 

780 

882 

984 

1086  1188 

69 

171 

273 

375 

477 

579 

681 

783 

885 

987 

1089  1191 

72 

174 

276 

378 

480 

582 

684 

786 

888 

990 

1092  1194 

75 

177 

279 

381 

483 

585 

687 

789 

891 

993 

1095  1197 

78 

180 

282 

384 

486 

588 

690 

792 

894 

996 

1098  1200 

10 

81 

183 

285 

387 

489 

591 

693 

795 

897 

999 

1101  1203 

11 

84 

186 

288 

390 

492 

594 

696 

798 

900 

1002  1104  1206 

12 

87 

189 

291 

393 

495 

597 

699 

801 

903 

1005  1107  1209 

13 

90 

192 

294 

396 

498 

600 

702 

804 

906 

1008  1110  1212 

14 

93 

195 

297 

399 

501 

603 

705 

807 

909 

1011  1113  1215 

15 

96 

198 

300 

402 

504 

606 

708 

810 

912 

1014  1116  1218 

 

 

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...

Отзывы: