Ihirangi
huna
Benewake TF-NOVA LiDAR Tawhiti Tawhiti Kowae
Nga korero hua
Whakatakotoranga
TF-NOVA LiDAR
- IR Taiaho: Waeroa 905nm
- Karaehe 1 kia rite ki te IEC 60825-1:2014, EN 60825-1:2014+A11:2021
Nga Tohutohu Whakamahi Hua
Nga Korero Haumaru Taiaho
- Kei roto i te LiDAR nga IR me nga waahi laser ka kitea. IR laser: Te roangaru 905nm; Ko te akomanga 1 e ai ki te IEC 60825-1:2014, EN 60825-1:2014+A11:2021.
- TUpato! Ko te whakamahi i nga mana whakahaere, i nga whakarereketanga, i te mahi ranei i nga tikanga ke atu i era kua tohua i konei ka puta pea te puta iraruke morearea.
Te Whakanoho me te Tiaki
- TUpato! Ko tenei hua laser ka whakarōpūhia hei Class 1 i nga wa whakahaere.
- I te wa e whakahohehia ana te ahuatanga awheawhe, ka tukuna pea e te kaiwhakaputa taiaho o te kōwae LiDAR te hihi taiaho; no reira, KAUA e aro te LiDAR ki nga tangata me nga kararehe kia noho haumaru ai.
- Ka taea anake e nga kaimahi whakangungu me te whai tohu te whakauru, te whakarite me te whakatika i te LiDAR.
Ka mutu te huaview
- Ko tenei upoko e whakaatu ana i te maapono ine, nga whakaritenga hangarau, te whakaahuatanga hanganga, nga taunga taputapu, me te mara o view te tohatoha o te TF-NOVA LiDAR.
Tikanga Ine
- Pikitia. 1: Te wa o te rere
Kupu Whakataki
- Kei roto i tenei pukapuka kaiwhakamahi te whakataki, te whakamahi me te tiaki o TF-NOVA LiDAR.
- Tena koa panuihia tenei pukapuka i mua i te whakamahi okawa, me te whai i nga huarahi e whakaahuatia ana i roto i te pukapuka i te wa e whakamahia ana hei karo i te kino o te hua, te ngaro o nga rawa, te whara o te tangata, me te takahi ranei i nga tikanga whakamana hua.
- Mena ka raru koe kaore e taea te whakatau i te wa e whakamahia ana, whakapaa atu ki nga kaimahi o Benewak mo te awhina.
Nga Korero Haumaru Taiaho
TUpato! Ko te whakamahi i nga mana whakahaere, i nga whakarereketanga, i nga mahi whakahaere i tua atu i era kua tohua i konei ka puta pea te puta iraruke morearea.
Te Whakanoho me te Tiaki
- TUpato! Ko tenei hua laser ka whakarōpūhia hei Class 1 i nga wa whakahaere.
- I te wa e whakahohehia ana te ahuatanga awheawhe, ka tukuna pea e te kaiwhakaputa taiaho o te kōwae LiDAR te iraruke taiaho, na reira, KAUA te LiDAR e aro ki te tangata me nga kararehe kia noho haumaru.
- Ko tenei hua he mea hoahoa me te whakatikatika mo te whakaurunga me nga arotahi kua kitea. Mena ka hiahiatia he matapihi whakamarumaru ki mua o te arotahi, he mea tika ki te whakarite i te whakamahinga o nga rauemi me te whakawhitinga teitei i te roangaru 905nm me te paninga anti-reflective.
- A ape i te noho o te auahi me te kohu i te waahi rapunga.
- A ape i te condensation.
- A ape i te pa ki te makuku me te wai.
- Kaua e whakamahi i te papanga taratara, i nga tauera paru, i nga hua kino ranei hei horoi i nga arotahi laser.
- Kaua e whakamahi i te voltage teitei ake i te morahi e hiahiatia ana i roto i nga whakaritenga hei whakakaha i te hua.
- Horoia nga arotahi laser ki te hau kōpeke. I te wa e hiahiatia ana, horoia nga arotahi laser ki te kakahu maeneene me te ma.
- Me mohio kei te mau te pukoro ki te aukati i nga panui teka, i te kino ranei.
- Ka taea anake e nga kaimahi whakangungu me te whai tohu te whakauru, te whakarite me te whakatika i te LiDAR.
Ka mutu te huaview
- Ko tenei upoko e whakaatu ana i te maapono ine, nga whakaritenga hangarau, te whakaahuatanga hanganga, nga taunga taputapu me te mara o view te tohatoha o te TF-NOVA LiDAR.
Te kaupapa ine
- Ko te TF-NOVA he pūoko o te wa o te rererangi (PToF).
- Ka tukuna e te TF-NOVA he taiaho pupuhi whaiti, ka whakahiatohia e te arotahi whakawhiti, ka uru ki te punaha whiwhi i muri i te whakaatahia e te ine ine, ka arohia ki te kaitirotiro e te arotahi whiwhi.
- Ko te wa i waenga i te tohu tuku me te tohu kua riro ka tatauhia ma te ara iahiko amplification me te tātari, me te tawhiti i waenga i te TF-NOVA me te taumata ine ka taea te tatau ma te tere o te marama.
Whakatakotoranga Hangarau
Ripanga. 1: Whakatakotoranga
| Tawhā Mahinga | |
| Awhe rapunga① | ≥3m @3%whakaata, 0Klux
≥7m @10% whakaata, 0Klux ≥2m @10% whakaata, 100Klux |
| Rohe matapo | ≤ 0.1m |
| Tika② | ±3cm @ 0.1-4m |
| Te tukurua | 1cm (1 tohu) |
| Whakataunga haerere | 1cm |
| auau anga taunoa | 100Hz taunoa, 1-500Hz ka taea te whakarite |
| Tawhā Taiaho | |
| Puna marama | VCSEL |
| Te roangaru o waenganui | 905nm |
| FoV | Pato. 14°×1° |
| Te haumaru kanohi | Akomanga 1 He haumaru-kanohi[EN60825] (Whakapumautanga hoahoa, kaore ano te tauira o naianei kia whiwhi i te hunga tuatoru |
| Miihini/Hiko | |
| Te mana toharite | TBD |
| Te tihi o te au | TBD |
| Tuku hiko | DC 5±10%V |
| Te pāmahana whakahaere | -25℃ ~ +70℃ |
| Te pāmahana rokiroki | -30℃ ~ +80℃ |
| Ahu | TYP. 26.5x 21.05 x 12.0mm³ |
| Taumaha | <5g |
| Kaihono | 1.25mm-5P |
| Taumata Tiaki | NA |
| Te roa o te taura | 10cm |
| Kawa Whakawhitiwhiti | |
| Atanga Whakawhitiwhiti | UART, IIC, I/O |
| Reiti Baud | Taunoa 115200 |
| Moka raraunga | 8 |
| Kati te moka
Parity |
1
Karekau |
WHAKAARO
- Ka inehia te awhe ine i te wa e tuuhia ai nga waahi marama katoa ki runga i te papa whaainga, i te 25 ℃. Ko nga huringa o nga ahuatanga ka rereke pea nga hua ine.
- Ka inehia te tika i raro i te ahua o te 25 ℃, te 0Klux me te 10% te papamuri whakaata, me nga huringa o nga ahuatanga ka puta he huringa i nga hua ine.
Te Ahua Hanganga
Ko te ahua katoa o te LiDAR e whakaatuhia ana i te ahua i raro nei.
FoV
Ko te FoV (marae o view) ko te koki kua hipokina e te pūoko LiDAR. Ko te FoV whakapae he 14° me te FoV poutū he 1°.
WHAKAARO Ko te 14° me te 1° he uara whakaaro. Na te mea kei te noho te hapa hangahanga me te hapa whakaurunga, he rerekee i waenga i nga uara tuturu me nga tikanga.
Tāuta Pūrere
Ko tenei waahanga e whakaatu ana i te whakaurunga miihini me nga korero honohono o TF-NOVA LiDAR.
Te whakaurunga miihini
Ka rite ki te whakaaturanga e whai ake nei. TF-NOVA e 2 nga kohao tuunga whakaurunga e waatea ana hei whakamahi.
Kaihono
Ko te hononga he 1.25mm-5P, ko te ahua me te whakamaramatanga e whakaatuhia ana i raro nei.
Ripanga. 2: Ko nga whakamaramatanga titi hononga hono
| Tau titi | Whakamaramatanga |
| PIN 1 | VCC |
| PIN 2 | GND |
| PIN 3 | TXD(3.3V)/SDA |
| PIN 4 | RXD(3.3V)/SCL |
| PIN 5 | IO |
Kawa Whakawhitiwhiti me te whakatakotoranga raraunga
Whakawhitiwhiti Rangatū
- Hei hono i nga taputapu e rua mo te whakawhitiwhiti TTL, me hono te TXD o te kaitahuri ki te RXD o te kaiwhiwhi, me te TXD o te kaiwhiwhi me hono atu ki te RXD o te kaiwhakawhiti.
- Ko te LiDAR kaore e uru ki te whakawhiti hiko. Ina tukuna te hiko ki te LiDAR, ka timata te tuku aunoa i nga raraunga.
Ripanga. 3: Nga ahuatanga o te Atanga UART
| Pūāhua | Uara | Te whirihora |
| Reiti Baud | 115200 | Ka taea te whirihora |
| Moka raraunga | 8 | Kaore e taea te whirihora |
| Kati te moka | 1 | Kaore e taea te whirihora |
| Parity | Karekau | Kaore e taea te whirihora |
- FAKATOKANGA Ka taea te whakarite i te reiti Baud ki te 9600, 14400, 19200, 38400, 56000, 57600, 115200, 128000, 230400, 256000, 460800, 500000, 512000, 600000 750000, me te 921600. Mēnā i whakaritea ētahi atu uara, ka tautuhia e TF-NOVA ki te 115200.
- Hōputu putanga tauranga rangatū: 9-paita/cm (Taunoa)
| Paita | 0 | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 |
| Whakaahuatanga | 0x59 | 0x59 | Dist_L | Dist_H | Peak_L | Peak_H | Temp | Te ti'aturi | Taki_uma |
- Takiwa: cm
- Te tihi: Te kaha tohu
- Puta: Te Mahana maramara ℃
- Te maia: Taumata māia 0-100
- 9-paita/cm
| Paita | 0 | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 |
| Whakaahuatanga | 0x59 | 0x59 | Dist_L | Dist_H | Peak_L | Peak_H | Temp | Te ti'aturi | Taki_uma |
- Tape: mm
- Te tihi: Te kaha tohu
- Puta: Te Mahana maramara ℃
- Te maia: Taumata māia 0-100
I²C Whakawhitiwhiti
- Ka tautokohia e TF-NOVA te tere karaka 400kps hei miihini taurekareka, a ko tana wahitau taunoa ko 0x10. Mo etahi atu korero mo te ripanga rehita I²C, tirohia te Apitihanga I²C tepu rehita.
- Tuhipoka: I roto i tenei tuhinga, ko te wahitau o te taputapu pononga I²C he uara moka-7 me te awhe uara [0x08, 0x77] ([08, 119] i roto i te ira).
- Mo te paita tuatahi i muri i te whakaputanga a I²C i te tohu tiimata, me neke te wahitau 7-bit ki te taha maui mo te moka kotahi (arā, ka whakareatia ki te 2), ka whakakiia ki te tohu panui-tuhi kei te moka iti rawa.
- Mo te TF-NOVA, ko te wahitau taunoa o te taputapu pononga ko 0x10, ko te wahitau mo nga mahi tuhi ko 0x20, ko te wahitau mo nga mahi panui ko 0x21.
Tuhia te wa rehita:
| Tīmata | Taurekareka Addr | W | Ack | Rēhita
r Addr |
Ack | Raraunga1 | Ack | … | RaraungaN | Ack | Kati |
Pānuihia te wā rēhita:
| Tīmata | Taurekareka Addr | W | Ack | Rēhita Addr | Ack | Kati |
| Tīmata | Taurekareka Addr | R | Ack | Raraunga1 | Ack | … | RaraungaN | Nack | Kati |
- Kia mahara kei roto i te raupapa rehita panui, ka taea e te kaihautu te whakaputa tika i te tohu Timata tuarua me te kore e whakaputa i te tohu Kati tuatahi. Ka taea hoki te Nack whakamutunga hei tohu Ack.
- Whai muri i te mahi tuhi i runga i te rehita I²C, ka roa te TF-NOVA ki te tukatuka. Mena ka hiahia nga kaiwhakamahi ki te panui i te uara mai i te rehita mo nga kaupapa whakamana, ka tūtohu kia tatari mo te 100ms i muri i te mahi tuhi, i mua i te mahi panui e whai ake nei.
Aratau Whakaweto/whakaweto
- Kua hoahoatia te aratau on/off mo nga kaiwhakamahi e hiahia ana ki te kite i te oranga o tetahi mea.
- Ka taea e TF-NOVA te tiimata i tenei aratau ma te whakamahi i te "Whakahohe/whakahohe i te aratau-atu ID_ON_OFF_MODE=0x3B" ka whakaatu i te hua ma te titi 5.
- Ko te ahua 5 i raro nei e whakaatu ana i te mahi o te aratau ina whakatauhia he taumata teitei hei tohu i tetahi mea ka kitea.
- Uara Rohe: Ki te kitea he ahanoa tata atu i te Dist, ka whakaputa te Pin 5 i te taumata-tiketike, engari mena ka kitea he ahanoa kei tawhiti atu i te Dist + Rohe, ka puta te Pin 5 i te taumata-iti.
- Ina tautuhia te rohe ki te 0, ka puta pea te titi 5 ki runga me raro na te rerekee o te ine ka rite te tawhiti tuturu ki te Dist. Koia te take e hiahiatia ana he uara rohe tika hei awhina i te karo i tenei ahuatanga ma te whai i te waahi hysteretic.
- Ka tautokohia te whakaroa kia kore e tika te whakaputanga pekepeke. Ka huri te Pin 5 i tana putanga ka whakawhirinaki ki te ahuatanga o te uara o te Dist me te wa e mau ana.
- Ko te Taarua1 (ms) me te Taarua2 (ms) ka whakatau kia pehea te roa o nga huringa e tata ana me nga huringa wehe atu
- Ko te uara tahora kua eke ki runga i te raina.
- Tuhipoka: I te mea kua tautuhia te uara Dist ki te 0 i raro i te tautuhinga wheketere karekau he ahanoa e kitea ana Amp he iti rawa, katahi ka puta he te titi 6 i te aratau on/off.
Nga whakahau korero rangatū
- Ko etahi tawhā i roto i te TF-NOVA ka taea te whakarite e nga kaihoko, penei i te whakatakotoranga anga raraunga, te reiti anga, me etahi atu, ka taea te whakarereke ma te tuku tohutohu motuhake.
- Whai muri i te whirihoranga angitu, ka tiakina nga tawhā katoa ki te Flash, kaore e tika kia whirihora ano ina whakahikohia ano.
- I te wa e whirihora ana i nga tawhā, me whai i nga whakatakotoranga me nga ture motuhake kia kore ai e tukuna nga mihi kaore i whakauruhia ki raro.
Momo putanga ID_GET_VERSION=0x01
Whakararo:
| Paita | 0 | 1 | 2 | Len-1 |
| Whakaahuatanga | Upoko(0x5A) | Ko Len | ID | Taki_uma |
Whakarunga:
| Paita | 0 | 1 | 2 | 3-5 | Len-1 |
| Whakaahuatanga | Upoko(0x5A) | Ko Len | ID | Putanga | Taki_uma |
- Putanga: Hei tauira, mena ko te paita tuatoru, tuawha, me te tuarima he 112, 50, 9, ko te putanga ko 9.50.112.
- Sample: Tono [5A 04 01 5F]
Pūmanawa Pūmanawa whakaora ID_SOFT_RESET=0x02
Whakararo:
| Paita | 0 | 1 | 2 | Len-1 |
| Whakaahuatanga | Upoko(0x5A) | Ko Len | ID | Taki_uma |
Whakarunga:
| Paita | 0 | 1 | 2 | 3 | Len-1 |
| Whakaahuatanga | Upoko(0x5A) | Ko Len | ID | Tūnga | Taki_uma |
- Tūnga: 0 (angitu), ki te kore (rahua)
- Tuhipoka: Ko nga huringa me te kore "tiaki te tautuhinga o naianei" ka kore e tiakina, ka hoki ano ki te tautuhinga taketake.
- Sample: Whakahaua [5A 04 02 60]
ID auau putanga_SAMPLE_FREQ=0x03
Whakararo:
| Paita | 0 | 1 | 2 | 3~4 | Len-1 |
| Whakaahuatanga | Upoko(0x5A) | Ko Len | ID | FPS | Taki_uma |
| Taunoa | 100 |
- Auautanga: Ko te auau mahi tuturu i tutuki e te LiDAR.
Whakarunga:
| Paita | 0 | 1 | 2 | 3~4 | Len-1 |
| Whakaahuatanga | Upoko(0x5A) | Ko Len | ID | FPS | Taki_uma |
- Auautanga: Ko te auau mahi tuturu i tutuki e te LiDAR.
Sample: 10Hz [5A 06 03 0A 00 6D]
Tautuhinga hōputu putanga ID_OUTPUT_FORMAT=0x05
Whakararo:
| Paita | 0 | 1 | 2 | 3 | Len-1 |
| Whakaahuatanga | Upoko(0x5A) | Ko Len | ID | Whakahōputu | Taki_uma |
| Taunoa | 0x01 |
- Hōputu: 0x01(9byte cm),0x06(9byte mm)
- Whakarunga:
| Paita | 0 | 1 | 2 | 3 | Len-1 |
| Whakaahuatanga | Upoko(0x5A) | Ko Len | ID | Whakahōputu | Taki_uma |
- Hōputu: tautuhinga hōputu putanga o nāianei
- Sample: 9paita mm [5A 05 05 06 6A]
Tautuhinga reiti Baud ID_BAUD_RATE=0x06
Whakararo:
| Paita | 0 | 1 | 2 | 3~6 | Len-1 |
| Whakaahuatanga | Upoko(0x5A) | Ko Len | ID | Whakahau | Taki_uma |
| Taunoa | 115200 |
- Baurate: reeti o naianei.
- Tuhipoka: Awhe reiti baud ka taea te whirihora [9600921600], whai hua i muri i te penapena.
Whakarunga:
| Paita | 0 | 1 | 2 | 3~6 | 7 | Len-1 |
| Whakaahuatanga | Upoko(0x5A) | Ko Len | ID | Whakahau | Tūnga 0: angitu !0: rahua | Taki_uma |
Sample:
- 9600 [5A 08 06 80 25 00 00 0D]
- 19200 [5A 08 06 00 4B 00 00 B3]
- 38400 [5A 08 06 00 96 00 00 FE]
- 57600 [5A 08 06 00 E1 00 00 49]
- 115200 [5A 08 06 00 C2 01 00 2B]
- 230400 [5A 08 06 00 84 03 00 EF]
- 460800 [5A 08 06 00 08 07 00 77]
- 921600 [5A 08 06 00 10 0E 00 86]
Whakahohe/monohia te putanga ID_OUTPUT_EN=0x07
Whakararo:
| Paita | 0 | 1 | 2 | 3 | Len-1 |
| Whakaahuatanga | Upoko(0x5A) | Ko Len | ID | Whakahohe | Taki_uma |
| Taunoa | 1 |
- Whakahohe: 0 (mono),1 (whakahohe).
Whakarunga:
| Paita | 0 | 1 | 2 | 3 | Len-1 |
| Whakaahuatanga | Upoko(0x5A) | Ko Len | ID | Whakahohe | Taki_uma |
Sample:
- Whakahohe putanga [5A 05 07 01 67] Monokia te putanga [5A 05 07 00 66]
Whakahohe/monohia te whakatairite arowhai ID_FRAME_CHECKSUM_EN=0x08
Whakararo:
| Paita | 0 | 1 | 2 | 3 | Len-1 |
| Whakaahuatanga | Upoko(0x5A) | Ko Len | ID | Whakahohe | Taki_uma |
| Taunoa | 0 |
- Whakahohe: 0 (monokia), 1 (whakahohe)
- Tuhipoka: Ahakoa kua monokia te whakatairitenga arowhai raraunga whakararo, kei te whakauru tonu te arowhai whaimana ki te anga raraunga whakarunga.
Whakarunga:
| Paita | 0 | 1 | 2 | 3 | Len-1 |
| Whakaahuatanga | Upoko(0x5A) | Ko Len | ID | Whakahohe | Taki_uma |
Sample:
- Whakahohehia te whakatairite arowhai [5A 05 08 01 68]
- Monokia te whakatairite arowhai [5A 05 08 00 67]
Tautuhinga atanga whakawhitiwhiti ID_IF_PROTOCOL=0x0A
Whakararo:
| Paita | 0 | 1 | 2 | 3 | 4 | Len-1 |
| Whakaahuatanga | Upoko(0x5A) | Ko Len | ID | Kōwhiringa | If_protocol | Taki_uma |
| Taunoa | !1 |
- Kōwhiri: !1:panui, 1:tuhi
- If_protocol: !1:UART, 1:I²C
Whakarunga:
| Paita | 0 | 1 | 2 | 3 | 4 | Len-1 |
| Whakaahuatanga | Upoko(0x5A) | Ko Len | ID | Tūnga 0: angitu !0: rahua | If_protocol | Taki_uma |
Sample:
- Tautuhi ki I²C [5A 06 0A 01 01 6C]
- Tuhipoka: Ka whai hua i muri i te penapena
I²C whirihoranga wāhitau mihini pononga ID_I²C_SLAVE_ADDR=0x0B
Whakararo:
| Paita | 0 | 1 | 2 | 3 | 4 | Len-1 |
| Whakaahuatanga | Upoko(0x5A) | Ko Len | ID | Kōwhiringa | I²C_taurekareka_addr | Taki_uma |
| Taunoa | 0x10 |
- Kōwhiri: !1: panui, 1:tuhi
- I²C_slave_addr: awhe[0x08, 0x77]
Whakarunga:
| Paita | 0 | 1 | 2 | 3 | 4 | Len-1 | |
| Whakaahuatanga | Upoko(0x5A) | Ko Len | ID | Tūnga 0: angitu !0: rahua | I²C_taurekareka_addr | Taki_uma | |
- Sample:
- Tautuhi ki te 0x2`0 [5A 05 0B 01 20 8B]
Whakahokia te tautuhinga taunoa ID_RESTORE_DEFAULT=0x10
Whakararo:
| Paita | 0 | 1 | 2 | Len-1 |
| Whakaahuatanga | Upoko(0x5A) | Ko Len | ID | Taki_uma |
Whakarunga:
| Paita | 0 | 1 | 2 | 3 | Len-1 |
| Whakaahuatanga | Upoko(0x5A) | Ko Len | ID | Tūnga | Taki_uma |
- Tūnga: 0(angitu), Kore 0(rahua).
- Sample:
- Whakahau [5A 04 10 6E]
Tiakina te tautuhinga onāianei ID_SAVE_SETTINGS=0x11
Whakararo:
| Paita | 0 | 1 | 2 | Len-1 |
| Whakaahuatanga | Upoko(0x5A) | Ko Len | ID | Taki_uma |
Whakarunga
| Paita | 0 | 1 | 2 | 3 | Len-1 |
| Whakaahuatanga | Upoko(0x5A) | Ko Len | ID | Tūnga | Taki_uma |
- Tūnga: 0 (angitu), Kore 0 (rahua).
- Sample: Tono [5A 04 11 6F]
Awhe tautuhinga tepe tawhitiID_DIST_RANGE=0x3A
Whakararo:
| Paita | 0 | 1 | 2 | 3 | 4-5 | 6-7 | Len-1 |
| Whakaahuatanga | Upoko(0x5A) | Ko Len | ID | Kōwhiringa | Min_dist | Max_dist | Taki_uma |
| Taunoa | 0 | 65535 |
- Kōwhiri: !1:panui, 1:tuhi
- Min_dist: putanga tawhiti iti i roto i te mm,
- Mauri_Marahi: putanga tawhiti teitei i roto i te mm
Whakarunga:
| Paita | 0 | 1 | 2 | 3 | 4-5 | 6-7 | Len-1 |
| Whakaahuatanga | Upoko(0x5A) | Ko Len | ID | Tūnga | Dist_min | Dist_max | Taki_uma |
- Tūnga: 0 (angitu), Kore 0 (rahua).
Sample:
- Tetepe putanga ina kei waho o te awhe me te huinga iti ko te 200mm me te huinga morahi kia 5000mm [5A 09 3A 01 C8 00 88 13 01]
Whakahohe/monohia te aratau-atu ID_ON_OFF_MODE=0x3B
Whakararo:
| Paita | 0 | 1 | 2 | 3 | 44 | 5-6 | 7-8 | 9-10 | 11–12 | Len-1 |
| Whakaahuatanga | Upoko(0x5A) | Ko Len | ID | Kōwhiringa | Aratau | Tape | Rohe | Whakaroa1 | Whakaroa2 | Taki_uma |
| Taunoa | 0 | 0 | 0 | 0 | 0 |
- Kōwhiri:!1:pānui, 1:tuhia
- Aratau: 0 (Putanga noa), 1 (Aratau weto me te putanga taumata teitei ina tata ana), 2
- (Aratau weto me te putanga taumata iti ina tata)
- Takiwa: uara tawhiti nui (te mea tata) ki henimita.
- Rohe: Te rahi o te rohe ki te henimita
- Whakaroa1: Wā whakaroa 1 i roto i te haumano hēkona. Pin 6 te taumata whakawhiti mena he iti iho te tawhiti i kitea i te Dist ka roa te ahuatanga mo Delay1.
- Whakaroa2: Wā whakaroa 2 i roto i te haumano hēkona. Pin 6 taumata whakawhiti mena he nui ake te tawhiti i kitea i te Dist + Rohe ka roa te ahuatanga mo Delay2.
Whakarunga:
| Paita | 0 | 1 | 2 | 3 | 44 | 5-6 | 7-8 | 9-10 | 11–12 | Len-1 |
| Whakaahuatanga | Upoko(0x5A) | Ko Len | ID | Tūnga | Aratau | Tape | Rohe | Whakaroa1 | Whakaroa2 | Taki_uma |
- Sample: Whakahohehia te aratau on-off me te putanga taumata teitei ina tata, ka tautuhia te Dist = 200cm
- Rohe=10cm, Roa1 = Roa2 = 1000ms: [5A 0E 3B 01 01 C8 00 0A 00 E8 03 E8 03 4D]
- WHAKATAHI Kaua e tukuna te whakahau kaore i te rarangi o runga.
Tāpiritanga I²C RĀPIRE Rēhita
| Wāhitau s | R/ W | Ingoa | Uara Tuatahi
e |
Whakaahuatanga |
| 0x00 | R | DIST_LOW | — | cm |
| 0x01 | R | DIST_HIGH | — | |
| 0x02 | R | PEAK_LOW | — | |
| 0x03 | R | PEAK _TIEKE | — | |
| 0x04 | R | TEMP_LOW | — | Waeine: 0.01 Celsius |
| 0x05 | R | TEMP_HIGH | — | |
| 0x06 | R | TICK_LOW | — | Taimaamp |
| 0x07 | R | TICK_TIEKE | — | |
| 0x08 | R | ERROR_LOW | — | Waehere hapa |
| 0x09 | R | HAPA_TIEKE | — | |
| 0x0A | R | PUTANGA_REVISION | — | |
| 0X0B | R | VERSION_MINOR | — | |
| 0x0C | R | VERSION_MAJOR | — | |
| 0x0D | W/
R |
IIC_SLAVE_IO_SPEED | 0x00 | 0(2MHz),1(10MHz),2(50MH
z) |
| 0x0E | W/
R |
FITLER_DIST_LOW | — | paepae tātari tawhiti |
| 0x0F | W/
R |
FILTER_DIST_HIGH | — | |
| 0x10-
0x1D |
R | SN | — | Waehere whakaputa i roto i te 14 paita waehere ASCII (0x10 te paita tuatahi) |
| 0x1E | W/ R | IF_PROTOCOL | 0x00 | 0x00: UART
0x01: IIC Tiakina ka timata ano kia whai mana |
| 0x20 | W | Tiaki | — | Tuhia te 0x01 hei tiaki
tautuhinga o nāianei |
| 0x21 | W | KAUPAPA/WATAHIA | — | Tuhia 0x02 ki te whakaara ano |
| 0x22 | W/
R |
SLAVE_ADDR | 0x10 | awhe: [0x08, 0x77] |
| 0x25 | W/
R |
WHAKAMAHI | 0x01 | 0x00: Whakawetohia te LiDAR
0x01: Whakakāhia te LiDAR |
| 0x26 | W/
R |
FPS_LOW | 0x64 | tere tāpare |
| 0x27 | W/
R |
FPS_TIEKE | 0x00 | |
| 0x29 | W | RESTORE_FACTORY_DEFAULT
S |
— | Tuhia te 0x01 hei whakaora
tautuhinga wheketere taunoa |
| 0x2A | W/
R |
PEAK_THR_LOW | — | Paepae PEAK |
| 0X2B | W/
R |
PEAK_THR_HIGH | — | |
| 0x2C | W/
R |
PEAK_THR_FILTER_LOW | — | Tātari paepae PEAK |
| 0x2D | W/
R |
PEAK_THR_FILTER_HIGH | — | |
| 0x2E | W/ R | MIN_DIST_LOW | 0x00 | Te tawhitinga iti i roto i te mm, engari karekau e mahi
DUMMY_DIST |
| 0x2F | W/
R |
MIN_DIST_HIGH | 0x00 | |
| 0x30 | W/ R | MAX_DIST_LOW | 0xFF | Te tawhitinga teitei i roto i te mm, engari karekau e mahi
DUMMY_DIST |
| 0x31 | W/
R |
MAX_DIST_HIGH | 0xFF | |
| 0x32 | W/ R | ON_OFF_MODE_DIST_LOW | 0x00 | ON_OFF nga rehita e pa ana ki te aratau, tirohia koa: aratau ON_OFF. Kia mahara ko te wae tawhiti i te rehita IIC he mm.
Tuhipoka: Putanga firmware iti V1.3.19 |
| 0x33 | W/
R |
ON_OFF_MODE_DIST_HIGH | 0x00 |
| 0x34 | W/
R |
ON_OFF_MODE_ZONE_LOW | 0x00 | |
| 0x35 | W/
R |
ON_OFF_MODE_ZONE_HIGH | 0x00 | |
| 0x36 | W/
R |
ON_OFF_MODE_DELAY1_LOW | 0x00 | |
| 0x37 | W/
R |
ON_OFF_MODE_DELAY1_HIG
H |
0x00 | |
| 0x38 | W/
R |
ON_OFF_MODE_DELAY2_LO
W |
0x00 | |
| 0x39 | W/
R |
ON_OFF_MODE_DELAY2_HIG
H |
0x00 | |
| 0x3A | W/
R |
ON_OFF_MODE_EN | 0x00 | |
| 0x3C-
0x3F |
R | Waitohu | — | 'S' 'P' 'A' 'D' |
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- Kua rāhuitia ngā mana katoa · Ka taea te whakarereke me te kore panui.
FAQ
- Q: Ka taea te whakamahi i te LiDAR ki waho?
- A: Ka taea te whakamahi i te TF-NOVA LiDAR ki waho engari me whakamarumaru mai i nga ahuatanga o te huarere penei i te ua nui, te ra tika ranei.
- Q: Kia pehea te tawhiti ka taea e te LiDAR te ine?
- A: Ko te awhe teitei o te TF-NOVA LiDAR he mita X i raro i nga tikanga tino pai.
Tuhinga / Rauemi
 |
Benewake TF-NOVA LiDAR Tawhiti Tawhiti Kowae [pdf] Pukapuka Kaiwhakamahi TF-NOVA LiDAR Tauira Tawhiti Tawhiti, LiDAR Tawhiti Tawhiti, Te Tawhiti Tawhiti, Te Wae, Te Wae |