Eunitree
I-4D LiDAR-L2
Incwadi yoMsebenzisi v 1.1
2024.10
Khuphela uxwebhu
Cofa eli khonkco lilandelayo ukukhuphela inguqulelo yamva nje yencwadi yomsebenzisi : https://www.unitree.com/download
Khuphela i-Unilidar 2
Khuphela isoftware yelifu ye-Unilidar 2 ngale dilesi ilandelayo: https://www.unitree.com/download
Khuphela uMthombo oVulekileyo we-SDK
Umthombo ovulekileyo we-SDK unokufunyanwa ngale dilesi ilandelayo: https://www.unitree.com/download
https://github.com/unitreerobotics/unilidar_sdk
Product Overview
Intshayelelo
I-Unitree 4D LiDAR - L2 yindleko - esebenzayo, ekhuselekileyo kwaye ethembekileyo ye-4D laser radar (indawo ye-3D + inqanaba le-1D grey), enekhonoampIsantya esiphezulu se-laser esisusela kumaxesha angama-64000 ngomzuzwana kwaye sinokusetyenziswa kakhulu kwiirobhothi, kwizixeko ezikrelekrele, iithoyi ezikrelekrele, izinto zokusebenza kunye neminye imimandla, ixhasa ukufezekiswa kwemisebenzi efana nemephu, ukubeka, ukuqondwa, ukuphepha imiqobo, ukuskena kwendalo, ukwakhiwa kwakhona kwe-3D, njl.
I-radar ye-L2 iyakwazi ukubona izinto ezinomgama omncinci weemitha ze-0.05 kunye nomgama ophezulu weemitha ze-30 (i-90% reflectivity).
Umatshini wonke we-L2 uncinci kwaye ukhaphukhaphu, unobunzima be-230 grams kuphela, ufanelekile kwi-robot jikelele yokuskena indalo, ukubeka, imephu, ukuhamba kunye nokuphepha imiqobo.
I-L2 ine-ultra – ebanzi – ekwaziyo ukuskena i-engile, kunye nebala view (i-FOV) yandiswe ukuya kuma-360 ° ngokuthe tye kunye nama-90 ° ngokuthe nkqo, ivumela ukubonwa kwesithuba esine-dimensional ezintathu kunye ne-hemispherical field of view, kwaye uluhlu lwesicelo lunokwandiswa kwiimeko ezininzi zorhwebo. Ukongeza, i-L2 ikwaxhasa imo ye-engile engalunganga, apho ummandla we view iya kwandiswa ngokubhekele phaya ukuya kuma-360 ° ngokuthe tye nama-96 ° ngokuthe nkqo, kwaye owona mgama umde womlinganiselo kuluhlu ongqamene nommandla owandisiweyo we-6° view izakuba kufutshane kancinci.
I-L2 inemodyuli ye-IMU ene-3 - i-axis acceleration kunye ne-3 - i-axis gyroscope eyakhelwe-ngaphakathi, exhasa njengeampi-ling frequency ye-1 kHz kunye nokuphindaphinda kwengxelo ye-500 Hz.
I-L2 ine-circumferential scanning frequency ye-5.55 Hz, i-vertical scanning frequency ye-216 Hz, kunye ne-s esebenzayoampLing frequency of 64000 amanqaku ngomzuzwana. I-L2 ayinayo kuphela ukusebenza kakuhle kodwa kunye nokuthembeka okuphezulu, ukuhlangabezana nomgangatho wokushisa wendawo yokusebenza - 10 ° C ukuya ku-50 ° C kunye ne-IEC - 60825 i-Class 1 yezinga lokhuseleko lwamehlo.
I-L2 isekela ukulawula i-Mode ye-3D / i-2D Mode, i-Normal Mode / I-NEGA Mode, i-IMU Yenza / i-IMU Khubaza, imveliso ye-TTL UART / imveliso ye-ENET ye-UDP, i-Self Start / i-CMD Start, kunye neGrey ON / Grey OFF. Iiparamitha zomzi-mveliso zezi: Imo ye-3D, Imo ye-NEGA, i-IMU Khubaza, i-ENET, i-SELF QALA, kunye ne-GREY ON.
UmGaqo wokuSebenza
I-radar ye-L2 ikakhulu ibandakanya ukukhutshwa kwe-laser kunye ne-core ephumayo, isibuko esibonakalisayo, i-motor-high-speed ejikelezayo, kunye ne-low-speed motor ejikelezayo. Kwimeko yokusebenza, ngokwembono ebonakalisiweyo, izikhokelo ezijikelezayo ze-motor high-speed ejikelezayo kunye ne-low-speed-roating motor zilandelayo.
Unxibelelwano lwe-L2 luxhasa i-ENET UDP kunye ne-TTL UART. Xa usebenzisa unxibelelwano lwe-ENET UDP, qhagamshela i-L2 network port kunye ne-power port. Xa usebenzisa i-TTL UART, inokudibaniswa ngemodyuli ye-adapter enikeziweyo, qhagamshela i-Type - C port kwimodyuli ye-adapter kunye ne-port yamandla kwikhebula, okanye inokuxhuma ngokuthe ngqo kwi-socket ye-serial ye-TTL UART ngokulandelelana kocingo kwi "Interface Definition" ukusebenzisa. I-L2 ixhotyiswe ngemodyuli ye-adapter, i-adapter yamandla kunye nekhebula ledatha kubasebenzisi, ukuphelisa isidingo sokubonelela ngenkqubo yokubonelela ngombane obunzima kunye neentambo zokulungisa, ukunciphisa iindleko zokusetyenziswa.
I-L2 yamkela ubuchule bokubhabha bexesha lelaser kwaye, ngentsebenziswano nesantya esiphezulu sokufunyanwa kwelaser kunye nomatshini wokusetyenzwa, inokufikelela kwizenzo ezisuka kuma-64,000 ngomzuzwana. Kwisenzo ngasinye esijikelezayo, i-L2 ikhupha isignali ye-laser ye-infrared ngendlela ye-pulse emxinwa kwinqanaba le-ns. Ukukhanya okubonakaliswe emva kokuba lo mqondiso we-laser ukhanyise into ekujoliswe kuyo iya kufunyanwa yinkqubo yokufumana i-laser ye-radar. Emva kokuhlalutya kunye nokucutshungulwa kweprosesa, ixabiso lomgama phakathi kwento ekujoliswe kuyo i-irradiated kunye ne-L2 kunye ne-angle ekhoyo edibeneyo kunye nolunye ulwazi luya kuphuma kwi-interface yonxibelelwano.
Inkcazelo yecandelo
- Ifestile ebonakalayo
Umqa we-laser okhutshwe ngefestile ye-optical unokuskena izinto ngaphakathi kwebala view (FOV). - Indawo yokuphuma
I-L2 ineetheminali ezintathu zokuphuma kwayo, oko kukuthi i-DC3.5 - 1.35 umbane, i-RJ45 receptacle (i-network port), kunye ne-GH1.25 - 4Y iplagi (i-serial port). Ngolandelelwano oluneenkcukacha zocingo, nceda ubhekisele kwicandelo leNgcaciso yoMnxibelelanisi. - Positioning Slots
Kukho iindawo zokubeka ezi-4 zizonke. Xa uyila isibiyeli esisisigxina, iindawo zokubeka iindawo zokubeka zingasetyenziselwa ukuphucula ukuchaneka kokuma komatshini wonke. Ngemilinganiselo ethile, nceda ubhekisele kwicandelo leMilinganiselo yoFakelo. - Imingxunya yoFakelo lwe-M3
Kukho imingxunya yofakelo emi-4 iyonke. I-L2 inokulungiswa kwindawo efanelekileyo ngokusebenzisa izikrufu ze-M3.
Inkcazo yesiNxulumanisi
Enye - ngaphandle - iCable Three
I-L2 ineetheminali ezintathu zokuphuma kwayo, ezizezi i-DC3.5 - 1.35 intloko yonikezelo lwamandla (i-port yamandla), i-RJ45 receptacle (i-network port), kunye ne-GH1.25 - 4Y iplagi (i-serial port). Abasebenzisi banokuxhuma kwi-L2 ngokusebenzisa i-adapter yamandla enikeziweyo, imodyuli ye-adapter ye-serial port, intambo yedatha okanye intambo yenethiwekhi ukufezekisa uxhumano lwamandla, ukuhanjiswa kwesignali yokulawula kunye nokuhanjiswa kwedatha, njl. Inkcazo yesitulo se-serial port yi-GH1.25mm 4PIN.
Inkcazo yokulandelelana kwentambo ye-L2 intambo ihamba ngolu hlobo lulandelayo:
| Isinxibelelanisi esiphumayo | Inombolo yePin | Inombolo yePin | 1 Umbala wocingo | Umsebenzi |
| DC3 4-1.35 Ubonelelo lwaMandla | Okuhle | Amandla Positive | Bomvu | Intambo yamandla |
| Ibi | Power Negative | Mnyama | Intambo yamandla | |
| I-RJ45 Isixhobo sokwamkela | 1 | ETHTX+ | I-Orenji emhlophe | Ikhebula yedatha |
| 2 | ETHTX- | Orenji | Ikhebula yedatha | |
| 3 | ETHRX+ | Luhlaza oluMhlophe | Ikhebula yedatha | |
| 6 | ETHRX- | Luhlaza | Ikhebula yedatha | |
| Iplagi yeGH1.25-4Y | 2 | UART GND | Pinki | Ikhebula yedatha |
| 3 | UART RX | Mhlophe | Ikhebula yedatha | |
| 4 | UART TX | Ntsundu | Ikhebula yedatha | |
| 1 | - | - | - |
Ukuhlohla
Intsimi esebenzayo ye View (FOV) Uluhlu
I-L2 iqulethe i-high-speed motor kunye ne-low-speed motor ngaphakathi. Isantya esiphezulu semoto siqhubela isipili esibonisa ukujikeleza, ukufikelela kuluhlu lomlinganiselo we-180 ° kwicala elithe nkqo, kwaye emva koko isantya esisezantsi esijikelezayo semoto siqhuba undoqo womlinganiselo wokujikeleza ama-360 ° ukufezekisa i-360 * 90 ° ye-hemispherical ultra - ububanzi - ububanzi - kwi-angle scan - enokulinganisa isithuba se-angle ebonisa i-radar, ebonisa isithuba se-angle ezintathu. umzobo. Nceda uqaphele uluhlu olusebenzayo lwe-FOV ngexesha lofakelo ukunqanda ukuthintela indawo ye-FOV.
I-L2 ixhasa imo ye-engile engalunganga, apho ummandla othe tye we view ihlala ingatshintshwanga kwaye inkalo yendlela ethe nkqo ye view yanda ukuya kuma-96 ° kwimo ye-engile engalunganga. Kwimo ye-engile engalunganga, owona mgama umde womlinganiselo kuluhlu ohambelana nokwandisiweyo kwe-6° ibala. view izakuba kufutshane kancinci.
Nceda uqaphele ukuba indawo yoxinzelelo lwamafu e-L2 yahlukile kwimimandla eyahlukeneyo ye-FOV, kwaye indawo yoxinzelelo lwamafu inkulu kufutshane nombindi, njengoko kubonisiwe kulo mfanekiso ulandelayo.
Uluhlu lwe view ngqo ngaphezulu kwe-L2 yeyona ikude. Ukongeza, kuya kubakho indawo ye-angle encinci kakhulu yokusilela kombono ngokuthe ngqo ngaphezulu kwe-L2, into eqhelekileyo emva kokulungiswa kwe-algorithm.
UFakelo lokuQaphela
Ngaphambi kokufaka ngokusesikweni i-L2, nceda uqiniseke ukuba ufunda la manyathelo okhuseleko alandelayo ngononophelo:
- Coca ifestile ye-optical ngotywala okanye ilaphu elicocekileyo phambi kokufakwa. Qinisekisa kwakhona ukucoceka kwefestile ye-optical ngexesha lokusetyenziswa. Uthuli okanye olunye ukungcola kunokuchaphazela isiphumo sokuskena se-L2.
- Ngexesha lofakelo, musa ukuvimba iFOV yayo. Kwanokufaka ipleyiti yeglasi ebonakalayo kwifestile yamehlo kuya kuchaphazela ukusebenza kwe-L2.
- I-L2 inokufakwa kulo naliphi na icala ngokusebenzisa imingxuma yokufakela engezantsi.
- Isakhiwo sokufakela i-L2 sinokuqinisekisa kuphela ukuthembeka kwayo, kwaye umzimba awukwazi ukuthwala imithwalo eyongezelelweyo.
- Shiya umlinganiselo othile wendawo kuwo onke macala omane ngexesha lofakelo ukuze uthintele ukuhamba komoya okungahambi kakuhle ekuchaphazeni isiphumo sokutshatyalaliswa kobushushu.
- Xa imeko yesicelo idinga ukuxhathisa kwamanzi, i-L2 idinga ukuxhotyiswa ngesixhobo sokukhusela amanzi. Imizobo yokhuselo lwamanzi yofakelo oluqhelekileyo kunye nofakelo olujonge phantsi lulandelayo:
Imilinganiselo yoFakelo
Ngaphantsi kwe-L2 inemingxuma yokufakela ye-4 M3 enobunzulu be-6mm. Nceda ufake i-L2 kwindawo efanelekileyo ngokwemilinganiselo ye-L2 yomatshini kunye nemilinganiselo yendawo yomngxuma eboniswe kulo mfanekiso ulandelayo.
L2 Ubunzima kunye nemilinganiselo
| Ubunzima | 230g |
| Imilinganiselo | 75 (ububanzi) x75 (ubunzulu) x65 (ubude)mm |
Sebenzisa
Uqhagamshelwano
UART TTL Connection
Iplagi ye-4PIN ye-L2 inokubonelela ngokugqithiswa kwedatha kodwa ingabi namandla. Ngolandelelwano oluthile lwengcingo, nceda ubhekisele kwicandelo leNgcaciso yoMnxibelelanisi. Ukuba ufuna ukuvavanya okwethutyana okanye ukusebenzisa i-L2, kucetyiswa ukuba usebenzise imodyuli yeadaptha, i-adapter yamandla kunye nekhebula ledatha elinikezelwe kwiphakheji. Uqhagamshelo kunye neendlela zokusebenzisa zezi zilandelayo: a.Faka i-4PIN yesiriyali port ye-L2 kwimodyuli yeadaptha. b.Faka iadaptha yamandla kwizibuko lonikezelo lwamandla entambo ukunika amandla. c. Faka Uhlobo - C ujongano lwentambo yedatha kwi-port yonxibelelwano lwedatha yemodyuli yeadaptha, kwaye uqhagamshele esinye isiphelo kwikhompyuter yakho.
ENET UDP Connection
I-L2 ixhasa ukuhanjiswa kwedatha ye-UDP yenethiwekhi. Qhagamshela izibuko lothungelwano kunye nezibuko lamandla entambo oza kuyisebenzisa. I-port yenethiwekhi ye-L2 ingasetyenziselwa ngqo ukuhanjiswa kwedatha. Xa usebenzisa, faka izibuko lenethiwekhi kwisitshixo okanye kwikhompyuter, kwaye ufake iadaptha yamandla kwindawo yonikezelo lwamandla yentambo oza kuyisebenzisa. Ulwazi olusisiseko loqwalaselo lwe-L2 luyi: IP: 192.168.1.62, Isango: 192.168.1.1, IMask ye-Subnet Mask: 255.255.255.0, Idilesi ye-IP yoMncedisi oMiyo wokuThumela iDatha yi-192.168.1.2. I-port ye-UDP yokuthumela idatha nge-radar yi-6101, kwaye i-port efumana i-server yendawo yokufika yi-6201. Xa usebenzisa okokuqala, nceda uqaphele ukuba idilesi yeseva yendawo kunye ne-IP ye-L2 ayingqubuzani. Ukuba ufuna ukulungisa ulwazi lolungelelwaniso, ungakwenza oko ngekhompyuter ephezulu okanye i-SDK. · Imodyuli ye-adapter, i-adaptha yamandla kunye nekhebula ledatha zonke zibonelelwe kunye nephakheji, ezinokufikelela uxhulumaniso lwamandla, ukulawula ukuhanjiswa kwesignali kunye nokuhanjiswa kwedatha, njl. · Xa uhlaziywa, nceda ubeke i-radar ye-L2 kwi-pad yerabha enikezelweyo kwaye ubeke i-rubber pad kwitafile ethe tye ukuqinisekisa ukuba i-radar isebenza ngokuzinzileyo kwaye ugweme ukubetha nokuwa.
Inkqubo yokulungelelanisa
Inkcazo ye-right-angled coordinate system O – XYZ ye-L2 iboniswe kulo mfanekiso ulandelayo. I-O yimvelaphi yenkqubo yolungelelwaniso lwamafu, ebekwe kwindawo esezantsi embindini, +X licala elichaseneyo lendawo yokuphuma, +Y licala elingama-90 ° ngokuphambene newotshi ukusuka +X, kunye no-O – XYZ yinkqubo yolungelelwaniso yelifu le-L2 (imvelaphi kunye nenkqubo yolungelelwaniso ye-XYZ ye-IMU ibonwa kwimodeli ye-L2 ye-3D, kwaye i-XYZ i-axels ye-axes ye-XYZ ye-axels ye-XYZ. inkqubo yokulungelelanisa).
Point Data Cloud
I-L2 inokukhetha enye indlela yokukhupha idatha kwi-ENET UDP kunye ne-TTL UART, enokuthi ikhethwe nge-Unilidar 2 okanye i-SDK.
Ngokungagqibekanga, i-L2 iqala ukukhupha idatha yelifu emva kokuba inikwe amandla. I-point data cloud iquka amaxabiso omgama, ii-angles, i-reflectivity, idatha ye-IMU kunye nedatha yesimo sokusebenza. Inqaku ledatha yelifu ludibaniso lwazo zonke iingqimba zamafu ezichongiweyo kumphezulu wento elinganisiweyo ngaphakathi kwebala. view ngokufumana uluhlu lwelaser. Inqaku ngalinye ledatha yelifu liqulathe olu lwazi lulandelayo:
Ixabiso lomgama: Owona mgama phakathi kwesampamanqaku e-ling, kwiimilimitha. I-engile: I-engile ye-sampLing point ngokunxulumene nokuqhelaniswa ne-L2 ngokwayo, ngokwezidanga. Reflectivity: Ukubonakala kwakhona kwento ebhaqiweyo. Idatha ye-IMU: Idatha ye-3 - i-axis accelerometer kunye ne-3 - i-axis gyroscope. Idatha yesimo sokusebenza: Isantya sangoku sokujikeleza, voltage, iqondo lobushushu, njl.
Ubume bokusebenza kunye neMowudi yokuSebenza
Ubume bokusebenza be-L2 bubhekiselele kwimeko yokusebenza yangoku ye-laser yokufumanisa uluhlu lwe-laser, kwaye imo yokusebenza ibhekisela kwimo yokusebenza ekujoliswe kuyo ebekwe ngumsebenzisi.
Inkcazo yeSimo sokuSebenza:
Ubume bokusebenza be-L2 bubandakanya sampubume be-ling, imo yokulinda, kunye nemo yophazamiseko, njengoko kucacisiwe kule theyibhile ilandelayo.
| Ukusebenza | Inkcazo |
| Sampling Ubume | Uluhlu lokufumanisa i-laser luqalisiwe kwaye lusebenza ngokwesiqhelo (ukukhupha imiqadi yelaser). |
| Isimo sokuma | Emva kokuseta imo yokulinda, ingena kwimo yokulinda. Kule meko, ukusetyenziswa kwamandla kungaphantsi kwe-1W, ukukhanya kwe-LED kucinyiwe, i-high-speed motor iyayeka ukujikeleza, i-low-speed motor iyayeka ukujikeleza, kwaye kuphela idatha ye-IMU iphuma. |
| Imeko yoMphazamiso | Emva kokunyanzelwa ukuba uyeke ukujikeleza ngamandla angaphandle, ilifu lephoyinti alinakusetyenziswa. Xa amandla angaphandle ekhutshwa, i-L2 iya kuphinda iqalise ukujikeleza kunye nedatha yefu. |
Inkcazo yeNdlela yokuSebenza:
Imo yokusebenza ibhekisa kwimo yokusebenza ekujoliswe kuyo esetwe ngumsebenzisi. Kukho iindlela ezimbini zokusebenza ezinokusetwa ngumsebenzisi we-L2: imo yesiqhelo (Imo yesiqhelo) kunye nemo yokulinda (imo yokulinda). Umsebenzisi unokuseta iindlela ezahlukeneyo zokusebenza nge-Unilidar 2 okanye i-SDK. Xa usebenzisa i-L2 okokuqala, imowudi emiyo yimowudi eqhelekileyo. Xa i-L2 icinyiwe kwaye emva koko ivuliwe kwakhona, iya kubuyela kwimo yesiqhelo emiselweyo.
Ukongeza, i-L2 inokusekwa ukuba ivumele imodi ye-3D / 2D, imodi ye-angle engalunganga, kunye namandla - kwi-self-start, kwaye ezi zicwangciso ziya kusebenza emva kokugcina iiparitha kunye nokuqalisa kwakhona i-radar. Kwimowudi ye-3D, i-high-speed motor kunye ne-low-speed motor ye-radar isebenza ngokuqhelekileyo, ibonelela ngedatha yelifu lesithathu-dimensional point. Kwimowudi ye-2D, kuphela ukuphakama kwemoto ye-radar esebenza ngokuqhelekileyo, i-low-speed motor iyamisa ukusebenza, kwaye zimbini kuphela -idatha ye-dimensional point data cloud inikezelwa. I-L2 ayigqibekanga kwimo ye-3D.
Kwimo ye-engile engalunganga, ummandla we view yerada yi-360 ° × 96 °, kwaye owona mgama umde womlinganiselo kuluhlu oluhambelana nokwandiswa kwebala le-6 ° view izakuba kufutshane kancinci.
I-L2 ayigqibekanga ukuyivula imo ye-engile engalunganga.
Xa amandla-kwi-self-start evuliwe, i-radar iqala ukusebenza ngokukhawuleza emva kokuba ivuliwe. Xa amandla-kwi-self-start evaliwe kwaye agcinwe kwaye emva koko iqaliswe, iradar ayiyi kusebenza ngalo lonke ixesha ivuliwe kodwa iya kulinda umyalelo wokuqala. I-L2 ayigqibekanga kumandla - ngokuziqalela.
Indlela ye-LED
I-LED ye-L2 ayixhasi ulungelelwaniso kwaye inamazwe amathathu:
I-6 - i-segment light ring kwimodi yesiqhelo, i-3 - i-segment light ring in negative angle mode, kunye ne-ring light iqhwanyaza ngokukhawuleza kwimodi ye-2D.
Unilidar 2
I-Unilidar 2 yi-software esebenzayo esetyenziswa yi-L2 ekwazi ukubonisa kwaye ihlalutye amafu amanqanaba amathathu-dimensional ngexesha langempela kwaye ixhasa imisebenzi ephezulu efana nezicwangciso zemveliso kunye nohlengahlengiso lwangaphandle lweparameter. Ukusebenzisa i-software ye-Unilidar 2, abasebenzisi banokwenza i-graphical debugging elula.
Unilidar
2 okwangoku ixhasa Window® (64 – bit). Abasebenzisi beWindows: Qalisa inkqubo ye-Unilidar 2.exe njengomlawuli emva kokukhuphela. Ukufumana ngakumbi iindlela zokusetyenziswa kwe-Unilidar 2, nceda undwendwele igosa webindawo www.unitree.com,
khuphela kwaye ujonge 《Unilidar 2 Incwadi Yomsebenzisi》 ngolwazi oluthe kratya. Unilidar SDK 2
Ukongeza ekusebenziseni Unilidar 2 ukuya view yokwenyani-ixesha ledatha yelifu, abasebenzisi banokufumana kwakhona idatha yelifu ngephakheji yesoftware ye-Unilidar SDK kwaye basebenzise idatha yelifu kwiimeko ezahlukeneyo.
Le phakheji yesoftware inokubonelela ngale misebenzi ilandelayo: ·Ucazulula idatha yoqobo egqithiswe kwirada yelaser kwaye uyiguqulele kwilifu lenqanaba kunye nedatha ye-IMU ·Fumana idatha yelifu lendawo ·Fumana idatha ye-IMU ·Qwalasela kwaye ubuze iiparamitha ezifanelekileyo kunye nolwazi lobume Tyelela https://www.unitree.com/download ukuya view ulwazi oluthe vetshe malunga namaxwebhu e-Unilidar SDK.
Ukugcinwa, uThutho kunye noLondolozo
Ugcino
- Ubushushu bokugcina be-L2 ngu-20 ° C ukuya ku-60 ° C. Nceda uyigcine kwindawo eyomileyo, engenamoya kunye nothuli - indawo ekhululekile.
- Kuphephe ukuyibeka kwizinto ezonakalisayo, ezinokutsha neziqhumayo.
- Yiphathe ngononophelo xa uyigcina ukunqanda ukonakalisa isixhobo.
- Kwizixhobo ezigcinwe ixesha elide, nceda ujonge kwaye uyigcine rhoqo.
Ezothutho
- Phambi kokuba usithuthe, lungisa isixhobo kwaye uqinisekise ukuba sifakelwe endaweni yakhe phambi kokupakishwa.
- Sebenzisa iibhokisi zokupakisha ezikhethekileyo okanye ukupakisha izixhobo ze-buffer ukufezekisa umphumo oyimfuneko wokukhusela.
- Kuphephe ukuchatshazelwa ziimpembelelo, ukungcangcazela kunye neengxabano ngexesha lothutho ukuphepha ukonakala koomatshini.
Isondlo
I-L2 inokuthembeka okulungileyo kunye nokuzinza. Ngethuba lokusetyenziswa okuqhelekileyo, kuphela ifestile ye-optical kufuneka ihlolwe rhoqo kwaye icocwe. Ukuba indawo yefestile ye-optical ingcolile (njengothuli, udaka, njl.), inokuchaphazela umgangatho wedatha eyenziwe emva kokuba i-radar ihlolisise into. Ngeli xesha, i-radar idinga ukucocwa. Ngokukhethekileyo, sebenzisa ilaphu lokucoca ukusula ngobunono ifestile yamehlo ukususa ubumdaka obungaphezulu. Xa ucoca, sula ngobumnene ukuze ugweme ukukrazula umphezulu wefestile ye-optical ngamandla amakhulu kunye nokuchaphazela ukusebenza kwayo. Ukuba kusekho amabala abonakalayo kwifestile ye-optical, sebenzisa ilaphu lokucoca elifakwe kwixabiso elincinci lotywala uze usule ifestile.
Ukulungisa ingxaki
Ukuba iingxaki zenzeka ngexesha lokusetyenziswa, nceda ujonge le theyibhile ilandelayo izisombululo. Ukuba ingxaki ayikasonjululwa, nceda uqhagamshelane neUnitree okanye umthengisi ogunyazisiweyo weUnitree.
| Ingxaki | Isisombululo |
| Ayikwazanga ukufumana idatha ye-L2 ngokusebenzisa indlela ye-TTL UART | ·Qinisekisa ukuba zonke iingcingo ziqhagamshelwe ngokuchanekileyo. ·Qinisekisa ukuba iadaptha ifanelekile. Imfuno yombane we-L2 yi-12V, 1A. ·Qinisekisa ukuba imveliso yerada ikhethiwe njengemveliso ye-TTL UART. Emva kokuqinisekisa oku ngasentla, ukuba i-serial port eqhagamshelwe kwi-L2 ayinakubonwa, zama ukuqalisa kwakhona i-L2 kunye ne-Unilidar 2 software. |
| Ayikwazanga ukufumana idatha ye-L2 ngokusebenzisa indlela ye-ENET UDP | ·Qinisekisa ukuba zonke iingcingo ziqhagamshelwe ngokuchanekileyo. ·Qinisekisa ukuba iadaptha ifanelekile. Imfuno yombane we-L2 yi-12V, 1A. ·Qinisekisa ukuba i-L2 kunye nolungelelwaniso lwe-IP lweseva ekujoliswe kulo luchanekile kwaye alungqubani. ·Jonga ubumbeko bothungelwano kwaye uqinisekise ukuba inethiwekhi igudile. ·Qinisekisa ukuba isibuko sokufumana idatha kwiseva ekujoliswe kuyo ayihlali mntu okanye ayibekwanga yodwa, kwaye ukungagqibeki ngu-udp6201. ·Qinisekisa ukuba imveliso yedatha yerada yi ENET UDP output. |
| Ayinakuqinisekisa ulwazi lweparamitha ye-IP ye-L2 | ·Qhagamshela i-L2 nge-serial port, lungisa ulwazi lweparamitha ye-IP ngekhompyutha ephezulu okanye nge-SDK, kwaye ugcine kwaye uqalise kwakhona. |
| Iyakwazi ukubona i-serial port eqhagamshelwe kwi-L2, kodwa ayinakuvula izibuko lothotho / okanye ayikwazi ukuqalisa sampling |
·Qinisekisa ukuba zonke iingcingo ziqhagamshelwe ngokuchanekileyo. ·Qinisekisa ukuba iadaptha ifanelekile. Imfuno yombane we-L2 yi-12V, 1A. Ukuba ingxaki isekho, zama ukuqalisa kwakhona i-L2 kunye ne-Unilidar 2 software. |
| Emva kokunyanzeliswa ngamandla angaphandle, i-L2 iyeka ukujikeleza | Ngokuqhelekileyo, xa amandla angaphandle ekhutshiwe, i-L2 iya kuphinda iqalise ukujikeleza. Zama ukuqalisa kwakhona i-L2. |
Emva - Ulwazi lweWaranti yokuthengisa
Ndwendwela https://www.unitree.com/terms ukufunda ngakumbi malunga nolwazi lwewaranti ye-Unitree 4D Lidar - L2.
Iinkcukacha zeParameter
Unitree 4D LiDAR
| Umzekelo | L2 |
| Laser Wavelengths | 905nm |
| Ukukala koKhuseleko lwamehlo «1 | Udidi 1 (IEC60825-1: 2014) Ukhuseleko lwamehlo |
| Uluhlu oluphezulu | 30M(@90% reflectity) 15M(@10% reflectity) |
| Kufuphi neBlind Zone -: | 0.05m |
| I-FOV | 360** 90°/360°96° (NAGE Mode) |
| SampUlwimi rhoqo | 128000 amanqaku /s |
| Ukuphindaphinda okusebenzayo | 64000 amanqaku /s |
| Indlela yokuskena | Ukuskena iMirror ngaphandle koqhagamshelwano |
| Ulwazi lwe-4D | 30 iNdawo +10 Grayscale(Inkxaso 20 Indlela) (41 |
| UkuJonga ukuSkena okuthe tye | 5.55Hz |
| Ukuskena okuthe nkqo | 216Hz |
| Ujongano lonxibelelwano | ENET UDP. TTL UART |
| Unxibelelwano lweBaud Rate | 4000000 bps (TTL UART) |
| Ukuchaneka koMlinganiso =! | =2.0em |
| ISigqibo seAngular | 0.64° |
| IsiGqibo soMlinganiselo | 4.5mm |
| IMU Sampling Ling | kHz |
| IMU yokuNikela iNgxelo rhoqo | S500Hz |
| Ubungakanani bembono yesimo | I-3-axis Accelerometer + 3-axis Gyroscope |
| Isisombululo seRingi ye-LED | 60° |
| Ireyithi yokuhlaziya iRingi ye-LED | 5.55HzZ |
| Ukukwazi ukuKhanya okuchasene namandla | 100Klux |
| Iqondo lobushushu lokuSebenza i | -10°C-59°C |
| Ubushushu beNdawo yoGcino | -20℃-60℃ |
| Inqanaba loKhuseleko [7] | IP54 |
| Amandla [8] | 10W (Ubushushu beNdawo 25℃) |
| Umsebenzi weVoltage | 12V DC |
| Ubungakanani | 75 (ububanzi) x75 (ubunzulu) x65 (ubude) mm |
| Ubunzima | 230g |
- Amandla aphakamileyo okukhawulezayo olahlekileyo yi-25W, kodwa amandla aqhelekileyo asetyenzisiweyo aya kuba ngaphantsi kakhulu kweli xabiso, kwaye iqhutywa yindlela edibeneyo, ekhupha kuphela ixesha elifutshane kakhulu ukuqinisekisa ukhuseleko lwabantu kunye nezilwanyana ezifuywayo kunye nokuhlangabezana nomgangatho wokhuseleko lwe-laser ye-Class I.
- Ixabiso eliqhelekileyo lokubonakala liboniswa apha, kwaye ixabiso langempela lixhomekeke kwiimeko zokusingqongileyo kunye neempawu zento ekujoliswe kuyo.
- Isixhobo sokulinganisa i-laser sinokubona kunye nesiphumo sedatha yefu xa umgama wento ekujoliswe kuyo yi-0.05m. Nangona kunjalo-ngenxa yokungakwazi ukuqinisekisa ubhaqo oluchanekile, le datha yeyereferensi kuphela.
- Kwimodi ye-2D, uluhlu lwe-angle luyi-180 ° okanye i-192 ° (kwi-NeGA Mode), kwaye i-frequency esebenzayo isekho amanqaku angama-64,000 ngesekhondi.
- Ukuqinisekisa ubhaqo olusebenzayo lwezinto ezineziphene ezahlukeneyo phakathi koluhlu, kunokubakho ukuhla okuncinci kokuchaneka kwendawo-yelifu kwezinye iindawo. Iimeko zovavanyo zi-os folows: ubushushu bokusingqongileyo obuyi-259c, i-reflection yento ekujoliswe kuyo yi-90%, kunye nomgama wovavanyo we-15m.
- Kwiindawo ezinje ngamaqondo obushushu aphezulu naphantsi, ukungcangcazela okuqinileyo, kunye nenkungu enzima, ukusebenza kwe-L2 kuya kuncipha kancinci. Ukongeza, ukusebenza kwexesha elide kumaqondo obushushu aphezulu kunokuchaphazela ukusebenza kwemveliso kwaye kubangele nomonakalo kwimveliso. Kunconywa ukuba abasebenzisi bandise amanyathelo okunciphisa ukushisa ukuze kuqinisekiswe ukuba ukushisa kwekhava ephantsi akudluli i-85 ° C. Ukuba iqondo lokushisa liphezulu kakhulu, indlela yokukhusela i-over-temperature iya kuqaliswa, kwaye i-L2 iya kukhupha isilumkiso sokushisa. Xa ubushushu bugqithise kakhulu, i-L2 iya kuyeka ukusebenza.
- Umphumo wokukhusela we-L2 uyahluka kakhulu phantsi kwee-angles ezahlukeneyo zokufakela. Nceda wandise ukhuseleko lwangaphandle ngokweengile yofakelo yoqobo ngokwakho; umonakalo obangelwa ukufakela okungafanelekanga okanye ukhuseleko lwangaphandle alufakwanga kwiwaranti.
- Amandla azinzileyo kunye namandla aphezulu ahluke kwiindawo ezahlukeneyo. Xa iqondo lobushushu kokusingqongileyo ukusuka -10 ° C ukuya 30 ° C, L2 iya kusebenza ngokuzenzekelayo kwimo self-ukufudumala kwaye akayi imveliso point amafu de ubushushu ukuhlangabezana neemfuno, kunye namandla incopho inokufikelela 13W ngeli xesha. Nceda uyila unikezelo lwamandla ngokufanelekileyo ukuqinisekisa ukusebenza okuqhelekileyo kwesixhobo.
Le ncwadana ayizi kwaziswa ngokwahlukeneyo ukuba ihlaziywe. Ungajonga inguqulelo yamva nje ye "User Manual" kwigosa webindawo yaseUnitree.
https://www.unitree.com/en/download
IUnitree luphawu lwentengiso yeHangzhou Yushu Technology Co., Ltd.
IWindows luphawu lwentengiso olubhalisiweyo lweMicrosoft Corporation kunye neenkampani eziphantsi kwayo eUnited States.
Amaxwebhu / Izibonelelo
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I-Unitree 4D LiDAR-L2 Ukusuka kwiiRobhothi ukuya kwiZibonelelo [pdf] Incwadi yokusebenzisa I-4D LiDAR-L2 Ukusuka kwiRobhothi ukuya kwiZibonelelo, i-4D LiDAR-L2, ukusuka kwiRobhothi ukuya kwiZibonelelo, ukuya kwiZibonelelo |
