User Manual LR-1BS35
OMEN-1BS35-202012
6
5.
Working principle
Figure 9 Diagram of LR-1BS lidar work principle
As is shown in the figure above, LR-1BS measures distance by using the time-of-flight
principle. Lidar emits laser pulses at uniform and short time intervals. After the laser is reflected
back when it encounters obstacles, the lidar receives reflected light signal. The distance between
the object and the lidar can be calculated according to the time difference between emission and
reception of laser (ie the flight time of the laser) T and the speed of light C. The calculation
method is as follows:
𝐷 =
𝐶𝑇
2
D-Detection distance
T-flight time
C-speed of light
6.
Data packet format
LR-1BS can realize laser point cloud data transmission. Please refer to the following for
the analysis of lidar point cloud data.
Information transmission between LR-1BS and computer follows UDP standard network
protocol. The data adapts Little-endian format with low byte at the front and high byte at the
back.
6.1.
Overview
Total length of data packet is 1240 bytes, among which header accounts 40 bytes, data
returned by laser is 1200 bytes.
Figure 10 Format of point cloud information packet
The total length of the data frame is 1240 bytes, among which:
Frame header: 40 bytes.
Data block: 150×8=1200 bytes.
Laser transmitter
Detector
