LSD1xx Series Lidar manual

LSD1xx Series Lidar manual

Incazelo emfushane:

Igobolondo le-aluminium alloy casting, isakhiwo esiqinile nesisindo esincane, kulula ukufakwa;
I-laser yebanga loku-1 iphephile emehlweni abantu;
Imvamisa yokuskena engu-50Hz yanelisa isidingo sokutholwa kwesivinini esikhulu;
I-heater ehlanganisiwe yangaphakathi iqinisekisa ukusebenza okuvamile ekushiseni okuphansi;
Umsebenzi wokuzihlola uqinisekisa ukusebenza okuvamile kwe-laser radar;
Ibanga elide lokutholwa lifika kumamitha angama-50;
I-engeli yokuthola: 190°;
Ukuhlunga uthuli kanye nokuphazamiseka kokulwa nokukhanya, i-IP68, ilungele ukusetshenziswa ngaphandle;
Ukushintsha umsebenzi wokufaka (LSD121A, LSD151A)
Izimele emthonjeni wokukhanya wangaphandle futhi ingagcina isimo esihle sokutholwa ebusuku;
Isitifiketi se-CE


Imininingwane Yomkhiqizo

Omaka bomkhiqizo

Izingxenye zesistimu

Uhlelo oluyisisekelo lwe-LSD1XXA luqukethe i-radar eyodwa ye-laser ye-LSD1XXA, ikhebula lamandla elilodwa (Y1), ikhebula elilodwa lokuxhumana (Y3) kanye ne-PC eyodwa enesofthiwe yokulungisa iphutha .

1.2.1 LSD1XXA
umkhiqizo (1)

No Izingxenye Isiyalezo
1 Isixhumi esibonakalayo esinengqondo(Y1 Amandla kanye ne-I/Oizintambo zokufaka zixhunywe ne-radar ngalesi sixhumi esibonakalayo
2 Isixhumi esibonakalayo se-Ethernet(Y3 Intambo yokuxhumana ye-Ethernet ixhunywe ne-radar ngalesi sixhumi esibonakalayo
3 Iwindi lenkomba Uhlelo ukuhlinzwa,I-alamu yephutha nokukhishwa kwesistimu izinkomba ezintathu
4 Ikhava yelensi yangaphambili Ukukhipha nokwamukelaimishayo ekhanyayo ibona ukuskenwa kwezinto ngale khava yelensi
5 Iwindi lezinkomba zedijithali Isimo se-Nixie tube siboniswa kuleli windi

Ikhebula lamandla

umkhiqizo (2)

Incazelo yekhebula

7-cores ikhebula lamandla:

Phina

Itheminali No

Umbala

incazelo

Umsebenzi

 Uchungechunge lwe-Lidar manual

1

Okuluhlaza okwesibhakabhaka

24V-

Okokufaka okungekuhle kokunikezwa kwamandla

2

Emnyama

UKUSHISA-

Ukufakwa okungalungile kwamandla okushisa

3

Emhlophe

IN2/OUT1

Okokufaka kwe-I/O / imbobo yokuphuma ye-NPN 1 (kufana ne-OUT1)

4

Brown

24V+

Okokufaka okuhle kokunikezwa kwamandla

5

Okubomvu

UKUSHISA+

Okokufaka okuhle kwamandla okushisa

6

Okuhlaza

NC/OUT3

Okokufaka kwe-I/O / imbobo yokuphuma ye-NPN 3 (kufana ne-OUT1)

7

Okuphuzi

INI/OUT2

Okokufaka kwe-I/O / NPN port2 (okufanayo ne-OUT1)

8

NC

NC

-

Qaphela :Nge-LSD101A, LSD131A, LSD151A, leli chweba liyimbobo yokuphuma ye-NPN (umqoqi ovulekile), kuzoba nokukhishwa kwe-lever okuphansi uma into itholwa endaweni yokutholwa.

Ku-LSD121A, LSD151A, le port iyimbobo yokufaka ye-I/O, Uma okokufaka kumisiwe noma kuxhunywe kokuphansi, kukhonjwa njengezinga eliphezulu nokuphumayo njengokuthi "0" kuphrothokholi yokuxhumana.

 

4-cores ikhebula lamandla:

Phina

Itheminali No

Umbala

incazelo

Umsebenzi

 Uchungechunge lwe-Lidar manual

1

Okuluhlaza okwesibhakabhaka

24V-

Okokufaka okungekuhle kokunikezwa kwamandla
2

Emhlophe

UKUSHISA -

Ukufakwa okungalungile kwamandla okushisa

3

NC

NC

Akunalutho
4

Brown

24V+

Okokufaka okuhle kokunikezwa kwamandla
5

Okuphuzi

UKUSHISA+

Okokufaka okuhle kwamandla okushisa

6

NC

NC

Akunalutho

7

NC

NC

Akunalutho

8

NC

NC

Akunalutho

Ikhebula Lokuxhumana

  1.3.3.1Ikhebula lokuxhumana

Imanuwali yochungechunge lwe-Lidar (18)

1.3.3.2Incazelo yekhebula

Phina

No

Umbala

Incazelo

Umsebenzi

No

RJ45

1

Okumhlophe okuwolintshi TX+E

Idatha ye-Ethernet isetshenzisiweding

1

 Imanuwali yochungechunge lwe-Lidar (36)

2

Okumhlophe okuluhlaza I-RX+E

Idatha ye-Ethernetukwamukela

3

3

iwolintshi

TX-E

Idatha ye-Ethernet isetshenzisiweding

2

4

Okuhlaza

I-RX-E

Idatha ye-Ethernetukwamukela

6

PC

Umfanekiso olandelayo uyisibonelo sokuhlolwa kwe-PC.Ngomsebenzi othize o sicela ubhekisele "kumiyalo ye-LSD1xx PC"

Imanuwali yochungechunge lwe-Lidar (33)

Ipharamitha yobuchwepheshe

Imodeli

I-LSD101A

I-LSD121A

I-LSD131A

I-LSD105A

I-LSD151A

I-voltage yokuhlinzeka

24VDC±20%

Amandla

<60W, ukusebenza kwamanje okujwayelekile<1.5A,Ukushisisa <2.5A

Idatha esibonakalayo

I-Ethernet,10/100MBd, TCP/IP

Isikhathi sokuphendula

20ms

I-Laser wave

905nm

Ibanga le-laser

Ibanga loku-1(iphephile emehlweni abantu

Ukuphazanyiswa kwe-anti-light

50000lux

Ububanzi be-engeli

-5° ~ 185°

Ukulungiswa kwe-engeli

0.36°

Ibanga

0~40m

0~40m

0~40m

0~50m

0~50m

Isixazululo sokulinganisa

5mm

Ukuphindaphinda

±10mm

In put function

-

I/O 24V

-

-

I/O 24V

Umsebenzi wokukhiphayo

I-NPN 24V

-

I-NPN 24V

I-NPN 24V

-

Umsebenzi wokuhlukanisa indawo

-

-

-

Width&ukuphakama

ukulinganisa

Isivinini sokutholwa kwemoto

-

-

≤20km/h

-

  Ibanga lokuthola ububanzi bemoto

-

-

1 ~ 4m

-

  Iphutha lokuthola ububanzi bemoto

-

-

±0.8%/±20mm

-

  Ibanga lokuthola ubude bemoto

-

-

1~6m

-

  Iphutha lokuthola ubude bemoto

-

-

±0.8%/±20mm

-

Ubukhulu

131mm × 144mm × 187mm

Isilinganiso sokuvikela

IP68

Umsebenzi/isitorejiizinga lokushisa

-30~ +60℃ /-40℃ ~ +85℃

Ijika lesici

Imanuwali yochungechunge lwe-Lidar (42) Imanuwali yochungechunge lwe-Lidar (43) Imanuwali yochungechunge lwe-Lidar (44)
Ijika lobudlelwano phakathi kwento etholwayo nebanga
Imanuwali yochungechunge lwe-Lidar (43)
Ijika lobudlelwano phakathi kokubonakala kwento etholwayo nebanga
Imanuwali yochungechunge lwe-Lidar (44)
Ijika lobudlelwano phakathi kosayizi wendawo yokukhanya nebanga

Ukuxhumana kukagesi

3.1Incazelo yesixhumi esibonakalayo

3.1.1Incazelo yomsebenzi

 

No

Isixhumi esibonakalayo

uhlobo

Umsebenzi

1

Y1

8 pin amasokhethi

Isixhumi esibonakalayo esinengqondo:1. Ukunikezwa kwamandla2. Okokufaka kwe-I/O(faka isicelotoI-LSD121A3. Amandla okushisa

2

Y3

4 pin amasokhethi

Isixhumi esibonakalayo se-Ethernet:1.Ukuthumela idatha yokulinganisa2. Ukufunda ukulungiselelwa kwembobo yezinzwa, ukulungiselelwa kwendawo kanye.ulwazi lwephutha

 

3.1.2 Isixhumi esibonakalayoincazelo

3.1.2.1 Y1 esibonakalayo

     7-cores interface ikhebula:

Phina

No

Umbala

Incazelo yesignali

Umsebenzi

 Uchungechunge lwe-Lidar manual

1

Okuluhlaza okwesibhakabhaka

24V-

Okokufaka okungekuhle kokunikezwa kwamandla

2

Emnyama

UKUSHISA-

Okokufaka okungekuhle kweukushisa powe

3

Emhlophe

IN2/PHUMA1

I/O okokufaka / i-NPNimbobo yokuphumayo1(okufanayoto OUT1

4

Brown

24V+

Okokufaka okuhle kokunikezwa kwamandla

5

Okubomvu

UKUSHISA+

Okokufaka okuhle kwamandla okushisa

6

Okuhlaza

NC/PHUMA3

Okokufaka kwe-I/O / NPN okukhiphayoitheku3(okufanayo ku-OUT1

7

Okuphuzi

INI/PHUMA2

Okokufaka kwe-I/O / NPN imbobo yokuphuma2(okufanayo ku-OUT1

8

NC

NC

-

Qaphela:Idatha ye-LSD101A,I-LSD131A,I-LSD105A, lesi sikhumuloI-NPN imbobo yokuphumayo(umqoqi ovulekile),kuzoba phansii-lever okukhiphayo lapho into itholwa endaweni yokuthola.

NgobaI-LSD121A, LSD151A , lesi sikhumuloI/Oimbobo yokufaka, Uma okokufaka kumisiwe okwesikhashana noma kuxhunywe kokuphansi, kukhonjwa njengezinga eliphezulu nokuphumayo njengokuthi "1" kuphrothokholi yokuxhumana;Uma okokufaka kuxhunywe ku-24V +, kukhonjwa njengezinga eliphansi futhi okuphumayo njengokuthi "0" kuphrothokholi yokuxhumana.
4-cores interface ikhebula:

Phina

No

Umbala

Incazelo yesignali

Umsebenzi

 Uchungechunge lwe-Lidar manual 1

Okuluhlaza okwesibhakabhaka

24V-

Okokufaka okungekuhle kokunikezwa kwamandla
2

Emhlophe

UKUSHISA -

Okokufaka okungekuhle kweukushisa powe

3

NC

NC

Akunalutho
4

Brown

24V+

Okokufaka okuhle kokunikezwa kwamandla
5

Okuphuzi

UKUSHISA+

Okokufaka okuhle kwamandla okushisa

6

NC

NC

Akunalutho

7

NC

NC

Akunalutho

8

NC

NC

Akunalutho

3.1.2.2  Y3incazelo yesixhumi esibonakalayo

Phina

No

Umbala

Incazelo yesignali

Umsebenzi

 Imanuwali yochungechunge lwe-Lidar (40) 1 Oububanzimhlophe TX+E

Idatha ye-Ethernet isetshenzisiweding

2 Okumhlophe okuluhlaza I-RX+E

Idatha ye-Ethernetukwamukela

3

iwolintshi

TX-E

Idatha ye-Ethernet isetshenzisiweding

4

Okuhlaza

I-RX-E

Idatha ye-Ethernetukwamukela

 

3.2Wukukhala

3.2.1 LSD101A,I-LSD131A,I-LSD105A  Ishintsha okukhiphayo izintambo(7 cores ikhebula lamandla

Qaphela:
Uma ulayini okukhiphayo weswishi ungasetshenziswa, uzomiswa noma umiswe phansi, futhi ngeke ube mfushane ujikelezwe nogesi ngokuqondile.;
I-V + ayidluli ku-24VDC voltage, futhi kufanele isekelwe kanye ne-24VDC.

3.2.2 LSD121A,I-LSD151AIshintsha okukhiphayo izintambo(7 cores ikhebula lamandla
3.2.3I-LSD121A,I-LSD151A umdwebo wezintambo zikagesi zangaphandle(7-cores ikhebula lamandla
Ikhebuli yokufaka ye-lidar kufanele ixhunywe ngekhebuli ye-Vout yangaphandle okwamanje xhuma i-5K eyodwaukumelanakuze 24+

Umsebenzi kanye nesicelo

4.1Function

Imisebenzi esemqoka yemikhiqizo yochungechunge lwe-LSD1XX A ukulinganisa ibanga, ukulungiselelwa kokufaka, nokwahlulela okuphelele kwenqubo yokungena nokuphuma kwemoto kanye nokwehlukaniswa okuguquguqukayo kwezimoto ngokulinganisa ububanzi bemoto nolwazi lobude.I-LSD1XX I-radar yochungechunge ixhunywe kukhompuyutha ephezulu ngentambo ye-Ethernet, futhi amagrafu edatha nedatha yokulinganisa ingaboniswa ngesofthiwe yekhompyutha ephezulu.

4.2 Isilinganiso

4.2.1 Ukulinganisa ibanga(Faka isicelo kokuthiI-LSD101A,I-LSD121A,I-LSD105A,I-LSD151A

Ngemva kokuthi i-radar ivuliwe futhi idlulise ukuzihlola kwesistimu, iqala ukukala inani lebanga lephoyinti ngalinye ngaphakathi kwebanga elingu - 5 ° ~ 185 °, bese ikhipha lawa manani ngoxhumano lwe-Ethernet.Idatha yokulinganisa ezenzakalelayo ingamaqembu angu-0-528, ahambisana nenani lebanga ebangeni elingu-5 ° ~ 185 °, elingefomethi ye-hexadecimal, futhi iyunithi ingu-mm.Ngokwesibonelo:

Umbiko wephutha
Thola uhlaka lwedatha:02 05 00 FE 00 FE 19 FE DB FE 01 02 F9 02 DE 02 E5 02 DE 02 E5 02 E5 02 E5 02 EC 02 EC 02 F3……..
Inani lebanga elihambelanayo:
Usuku:02 F9 02 DE 02 E5 02 DE 02 E5 02 E5 02 E5 02 EC 02 EC 02 F3...

I-engeli kanye nolwazi lwebanga oluhambisana nedatha:-5° 761mm,-4.64° 734mm,-4.28° 741mm,-3.92°734mm , -3.56°741,-3.20° 741mm,-2.84° 741mm,-2.48° 748mm,-2.12° 748mm,1.76° 755mm...

4.2.2Isilinganiso sobubanzi nobude(Faka isicelo ku-LSD131A

4.2.2.1Iphrothokholi yokuxhumana yokulinganisa

 

Incazelo

Ikhodi yomsebenzi

Umphumela wobubanzi

Umphumela wobude

I-Parity bit

Amabhayithi

2

2

2

1

Ukuthumela irada(I-hexadecimal

25,2A

WH,WL

HH,HL

CC

Umfanekiso:

Wumphumela we-id:WH( phezulu8izingcezu),WL( phansi8izingcezu

Hayisishiyagalombiliumphumela:HH(phezulu8izingcezu),HL(phansi8izingcezu

I-Parity bit:CC(XOR hlolaukusuka kubhayithi yesibili ukuya kweyesibili ibhayithi

Isibonelo:

Ububanzi2000Ubude1500:25 2A 07 D0 05 DC 24
4.2.2.2Iphrothokholi yokusetha ipharamitha
Izilungiselelo ezizenzakalelayo zasembonini zomkhiqizo yilezi: ububanzi bomzila 3500mm, ububanzi bento etholwayo bungu-300mm, kanye nobude bento etholwayo obuncane bungu-300mm.Umsebenzisi angakwazi ukuguqula imingcele yezinzwa ngokuvumelana nesimo sangempela.Uma inzwa isethwe ngempumelelo, kuzobuyiswa iqembu ledatha yesimo enefomethi efanayo.Ifomethi ethize yomyalelo imi kanje

Incazelo

Ikhodi yomsebenzi

Ikhodi yomsebenzi osizayo

Ipharamitha

I-Parity bit

Bytes

2

1

6/0

1

Iradaukwamukela(I-hexadecimal

45,4A

A1(setting

DH,DL,KH,KL,GH,GL

CC

Iradaukwamukela(I-hexadecimal

45,4A

AA(umbuzo

—-

CC

Ukuthumela irada(I-hexadecimal

45,4A

A1/A0

DH,DL,KH,KL,GH,GL

CC

Umfanekiso:
Ububanzi bomzila:DH(phezulu8 izingcezu),DL( phansi8izingcezu
Ububanzi bento yokuthola okuncane:KH(phezulu8 izingcezu),KL(phansi8izingcezu
Into yokutholwa okuncaneukuphakama:GH(phezulu8 izingcezu),GL(phansi8izingcezu
I-Parity bit:CC(XOR hlolaukusuka kubhayithi yesibili ukuya kweyesibili ibhayithi
Isibonelo:
Ukusetha:45 4A A1 13 88 00 C8 00 C8 70(5000mm,200mm,200mm
Umbuzo:45 4A AA E0
Impendulo1:45 4AA113 88 00 C8 00 C8 70(A1:Lapho ipharamitha ishintshiwe
Impendulo2:45 4AA013 88 00 C8 00 C8 71(A0:Uma ipharamitha ingashintshwa

Ukufakwa

8.1 Izinyathelo zokuvikela ukufakwa
● Endaweni yokusebenza yangaphandle, i-lnd1xx kufanele ifakwe ngekhava evikelayo ukuze kugwenywe izinga lokushisa langaphakathi lenzwa elikhuphuka ngokushesha ngenxa yokukhanya kwelanga okuqondile.
● Ungayifaki inzwa enezinto ezidlidlizayo noma ezishwibayo.
● I-Lnd1xx izofakwa kude nendawo ezungezile enomswakama, ukungcola kanye nengozi yokulimala kwezinzwa.
● Ukuze ugweme umthombo wokukhanya wangaphandle njengokukhanya kwelanga, ilambu le-incandescent, ilambu le-fluorescent, ilambu le-strobe noma omunye umthombo wokukhanya we-infrared, lowo mthombo wokukhanya wangaphandle akufanele ube phakathi kuka-± 5 ° wendiza etholwayo.
● Lapho ufaka ikhava yokuvikela, lungisa isiqondiso sekhava yokuvikela futhi uqinisekise ukuthi iphambi komzila, ngaphandle kwalokho izothinta ukunemba kokulinganisa.
● Isilinganiso samanje sokuphakelwa kwamandla erada eyodwa sizoba ≥ 3A (24VDC)
● Uhlobo olufanayo lokuphazamiseka komthombo wokukhanya kufanele kugwenywe.Uma izinzwa eziningi zifakiwe ngesikhathi esisodwa, izindlela zokufaka ezilandelayo zizolandelwa
a.Faka ipuleti lokuhlukanisa phakathi kwezinzwa eziseduze.
b.Lungisa ubude bokufakwa kwenzwa ngayinye ukuze indiza yokuthola yenzwa ngayinye ingabi phakathi kwamadigri angu-± 5 wendiza etholwayo kwenye.
c.Lungisa i-engeli yokufaka yenzwa ngayinye ukuze indiza yokuthola yenzwa ngayinye ingabi phakathi kwamadigri angu-± 5 wendiza etholwayo kwenye.

Amakhodi ezinkinga nokuxazulula inkinga

Amakhodi ezinkinga

No

Inkinga

Incazelo

001

Iphutha lokumisa ipharamitha

Ukucushwa kwamapharamitha okusebenza komshini ngekhompyutha ephezulu akulungile

002

Iphutha lekhava yelensi yangaphambili

Isembozo singcolile noma sonakalisiwe

003

Iphutha lesithenjwa sokulinganisa

Idatha yokulinganisa yezibonisi ezikhanyayo nezimnyama ngaphakathi komshini ayilungile

004

Iphutha lemoto

I-motor ayifinyeleli isivinini esimisiwe, noma isivinini asizinzile

005

Iphutha lokuxhumana

Ukuxhumana kwe-Ethernet, ukudluliswa kwedatha yokulinganisa kuvinjiwe noma kunqanyuliwe

006

Iphutha lokukhiphayo

Okukhipha isekethe emfushane noma icishiwe

9.2 Ukuxazulula inkinga

9.2.1Iphutha lokumisa ipharamitha

Lungiselela kabusha amapharamitha okusebenza we-radar ngekhompyutha ephezulu bese uwadlulisela emshinini.

9.2.2Iphutha lekhava yelensi yangaphambili

Isembozo sesibuko sangaphambili siyingxenye ebalulekile ye-LSD1xxA.Uma isembozo sesibuko sangaphambili singcolile, ukukhanya kokulinganisa kuzothinteka, futhi iphutha lokulinganisa lizoba likhulu uma likhulu.Ngakho-ke, isembozo sesibuko sangaphambili kufanele sigcinwe sihlanzekile.Uma isembozo sesibuko sangaphambili sitholakala singcolile, sicela usebenzise indwangu ethambile ecwiliswe okokuhlanza okungathathi hlangothi ukuze usule ngendlela efanayo.Uma kunezinhlayiya esembozweni sesibuko sangaphambili, ziqhumise ngegesi kuqala, bese uzisula ukuze ugweme ukunwaya ikhava yesibuko.

9.2.3Iphutha lesithenjwa sokulinganisa

Ireferensi yokulinganisa iwukuqinisekisa ukuthi idatha yokulinganisa ivumelekile yini.Uma kukhona iphutha, kusho ukuthi idatha yokulinganisa yomshini ayinembile futhi ngeke isasetshenziswa.Idinga ukubuyiselwa efekthri ukuze ilungiswe.

9.2.4Iphutha lemoto

Ukwehluleka kwenjini kuzodala ukuthi umshini wehluleke ukuskena ukukala noma kubangele isikhathi sokuphendula esingalungile.Idinga ukubuyela efekthri ukuze ilungiswe.

9.2.5 Iphutha lokuxhumana

Hlola ikhebula lokuxhumana noma ukwehluleka komshini 

9.2.6 Iphutha lokukhiphayo

Hlola ukuhluleka kwezintambo noma umshini

Ulwazi loku-oda lweSithasiselo II

No

Igama

Imodeli

Qaphela

Isisindo(kg

1

IradaInzwa

I-LSD101A

Uhlobo olujwayelekile

2.5

2

I-LSD121A

Uhlobo lokufaka

2.5

3

I-LSD131A

Uhlobo lwesilinganiso sobubanzi nobude

2.5

4

I-LSD105A

Uhlobo lwebanga elide

2.5

5

I-LSD151A

Uhlobo lokufakaUhlobo lwebanga elide

2.5

6

Ikhebula lamandla

KSP01/02-02

2m

0.2

7

I-KSP01/02-05

5m

0.5

8

I-KSP01/02-10

10m

1.0

9

I-KSP01/02-15

15m

1.5

10

I-KSP01/02-20

20m

2.0

11

I-KSP01/02-30

30m

3.0

12

I-KSP01/02-40

40m

4.0

13

Ikhebula lokuxhumana

KSI01-02

2m

0.2

14

KSI01-05

5m

0.3

15

KSI01-10

10m

0.5

16

I-KSI01-15

15m

0.7

17

KSI01-20

20m

0.9

18

KSI01-30

30m

1.1

19

KSI01-40

40m

1.3

20

Prikhava ye-otective

I-HLS01

6.0


  • Okwedlule:
  • Olandelayo:

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