FSD-F10 Lidar Sensor Specification

Transcription

1 FSD-F10 Lidar Sensor Specification How to Use Applied USB connector to connect PC,confirm and install USB driver software, outside power connect with +5V±10% and 1A power, use the serial assistant and input #sf \r\n command to start or install FSD-F10 Lidar Point-cloud data collect software Select COM communication port and fix the rate is bps,press the start button to start run, then the lidar will begin to run. (Version V7.08) - 1 -

2 FSD-F10 Lidar Operation Manual List 1.Who is Bee's eye Bee's eye is high technology What the bee's eye can do No disorderly use of a bee's eye Intelligence of bee's eye Appearance of bee's eye Appearance of the bee eye Dimension of the bee eye Where is eyes on the bee eye Where does the bee's eye begin to look How to use bee eye How to fix bee eye How to connect bee eye How to supply power to bee eye How to check the data collected by the bee eye The communication protocol of the bee eye and you Output data format Checkout algorithm Data parsing algorithm Engineering cases and SDK packages driven by ROS can be downloaded Thecausesthat affect the normal use of the bee's eyes The cause of the abnormal work of the bee's eye Standard and optional configuration of bee's eye

3 1.Who is Bee's eye The eyes of bees are different from human eyes which can only see things in front. Bees' eyes can see nearly a circle of images. The angle of bee eyes is more than 300 degrees. "Bee eye" is a laser radar, mobile robot eye, is a small, economical type of two-dimensional laser scanning radar. It combines different kinds of patents, can see around 360 degrees within 10 meters of the object, and create plane point cloud map data of local space. These point cloud map data can be used in the fields of map mapping, robot positioning and navigation, human flow detection and so on. 2.Bee's eye is high technology In optics, we used TOF laser ranging method and according to international standards with class 1 human eyes safe laser protection, the high power laser tube using fiber compression method (our patent) to compress divergence angle and decreasethe light spot, thereby greatly improving the eyesight. In terms of machinery, we used electromagnetic non-contact rotary patent technology and passive photoelectric encoding patent technology to make the structure simple, and the performance of the machine was very stable by using the large rotary shaft external rotor motor,thus greatly improved the sense of orientation. In the aspect of electricity and data processing, the false positives generated by the lidar detection to the edge of objects are processed by filtering. For detecting the transparent objects, we can distinguish them by the way of energy return, which greatly improves the virtual scene ability and decreases the bit error rate. In addition to controlling the starting, stopping and rotation speed of rotating electric machines through PWM, the principle of negative feedback is used to stabilize the motor speed in real time, so that I can judge more accurately. In terms of usability, RS232, RS485 and USB are used for multiple output modes, and external sequential control is installed for Super Intensive installation. CAN scan is used to form 3D scan. Provide powerful laser point cloud map building software and powerful laser point cloud original data analysis software, let you use me so convenient. About our lidar sensor,we has many certificates. The certification include: 1.The distance detect certification from SMQ(

4 2.The speed test certification from South China National Centre of Metrology ( 3. The certificate to meets the GB class I laser eye safety requirements from Southern China national metrology test center( 4. The electronic products quality certification from SZHTW( 5. The electronic products safety cerficication from SZHTW( Besides,we also has the consolidated test report from Rohs. 3.What the bee's eye can do Help you to synchronize and build SLAM Help you to scan the environment and rebuild 2D Help service robots, cleaning robots, toy robots and other positioning, obstacle avoidance and navigation Help you to check the complex flow of people environment I can do many things! 4.No disorderly use of a bee's eye Destroy safety systems, remove instructions and dangerous signs Use tools (such as screwdrivers) to open the equipment Refit or non manufacturer to upgrade JD-F10 Use of accessories for other manufacturers who have not been approved by Unioriental Direct aim at the sun A long (more than one minute) straight to the human eye, which will cause harm to the human eye. 5.Intelligence of bee's eye Item Parameter Measure distance¹ 0.15~16m@30% Repetition precision² ±3cm@16m@12Hz Scan angle 360 Angle resolution 0.36 Scan frequency³ 5~15Hz, Default 10Hz Measure speed 9000Hz Output port TTL Distance resolution 1cm Light resource Laser diode905nm, 1mW;accord withgb Class I Power supply DC5V±10%,<3W;starting current >1A volume Operation temperature range Storage temperature range Protection grade weight mm -10 ~ ~+70 IP55 190g Note: 1, refers to the farthest distance in the case of 30% reflectivity at 10m. 2, + 3cm@10m@5Hz refers to the scanning accuracy under the condition of scanning frequency 5Hz at 10m. 3, the rated speed is 5 circles per second

5 6. Appearance of bee's eye 6.1 Appearance of the bee eye 6.2 Dimension of the bee eye Add: 20F,C Building,GuoyaoXingda City,Danxia road cross Feicui Road,Hefei, Anhui ,China

6 6.3 Where is eye 6.4Where does the bee's eye begin to look 7. How to use bee eye 7.1 How to fix bee eye Use 4 M3X10's self tapping screws - 6 -

7 7.2 How to connect bee eye connect diagram Definition of cable output 10 line core Pin Function color description 0 +5V±10% red positive electrode 1 GND white GND 2 TTL Rx yellow TTL Rx 3 TTL Tx green TTL Tx 4 GND black Connect the GND 5 IO_1 Out white empty 6 IO_2 Out green empty 7 IO_3 Out yellow empty 8 IO_4 Out red empty 9 IO_1 In black empty 7.3 How to supply power to bee eye My power supply can be +5V ±10%, But when I start, I want to start with 5V, 1000mA, and start the 1000mA current at low speed. Normally, 500mA current will be ok, but the power's ripple coefficient should not exceed 40mV. 8. How to check the data collected by the bee eye We must open the bee eye laser point cloud data acquisition and analysis software, run the monitoring program directly, and play the following window, set up the communication COM port

8 9. How to check the data collected by the bee eye 9.1 Output data format Binary output: 4 bytes, including distance values and angle values. Each distance test packet include 4 bytes (orderly labeled A, B, C, D), the top 3 byte high is 0, the last byte is 1, indicating the end of this packet. Each byte has 8 bits respectively, corresponding to 7,6, 1,0 respectively.. In each data package, A7, B7, C7 are 0, and D7 is 1. The total number of valid data is 28 bits. A6, A5, A4 are verification bit, the specific algorithm please see below the Verification Algorithm. Each data package has only 4*7 = 28 bit valid data, A6, A5, A4 are verification bits, A3, A2, A1, A0, B6, B0, C6 are distance, totally there are 12 bits, range of 0~4000cm. C5... C0, D6,... D0 altogether 13 bits and they are angle value, range is 0~5759, angle precision is 1/16 degrees

9 9.2 Verification algorithm unsignedchar GetCrcPackage(unsigned char *buf) { static unsigned char cbit[256] = { 0,1,1,2,1,2,2,3,1,2,2,3,2,3,3,4,1,2,2,3,2,3,3,4,2,3,3,4,3,4,4,5, 1,2,2,3,2,3,3,4,2,3,3,4,3,4,4,5,2,3,3,4,3,4,4,5,3,4,4,5,4,5,5,6, 1,2,2,3,2,3,3,4,2,3,3,4,3,4,4,5,2,3,3,4,3,4,4,5,3,4,4,5,4,5,5,6, 2,3,3,4,3,4,4,5,3,4,4,5,4,5,5,6,3,4,4,5,4,5,5,6,4,5,5,6,5,6,6,7, 1,2,2,3,2,3,3,4,2,3,3,4,3,4,4,5,2,3,3,4,3,4,4,5,3,4,4,5,4,5,5,6, 2,3,3,4,3,4,4,5,3,4,4,5,4,5,5,6,3,4,4,5,4,5,5,6,4,5,5,6,5,6,6,7, 2,3,3,4,3,4,4,5,3,4,4,5,4,5,5,6,3,4,4,5,4,5,5,6,4,5,5,6,5,6,6,7, 3,4,4,5,4,5,5,6,4,5,5,6,5,6,6,7,4,5,5,6,5,6,6,7,5,6,6,7,6,7,7,8, }; return (cbit[buf[b]]+cbit[buf[c]]+cbit[buf[d]])&0x07; } 9.3 Data parsing algorithm // //buf is a data package pointer, save A,B,C,D bytes in order. //return the distance value, when the checkout is not right return-1 // typedef struct{ int distance; int Angle; }FSDNode; bool DecodeFSD10(FSDNode *nodelist,unsigned char *buf) { unsigned char crcdata = GetCrcPackage4Byte(buf); unsigned char crcdata1 = (buf[0]>>4)&0x07; if(crcdata1!= crcdata) return false; unsigned int uitemp; //calculate the distance uitemp = (buf[0]&0x0f); uitemp <<= 7; uitemp += (buf[1]&0x7f); uitemp <<= 1; if( buf[2]&0x40) uitemp++ ; nodelist->distance = uitemp; //calculate angle uitemp = buf[2]&0x3f; uitemp <<= 7; uitemp += (buf[3]&0x7f); nodelist->angle = uitemp; return true; } - 9 -

10 9.4Engineering cases and SDK packages driven by ROS can be downloaded SDK for FSD-F10 lidar sensor: FSD_F10_ros_lidar_driver # FSD_F10_lidarsensor_rosdriver 1) Git clone cd FSD_F10_lidar_sensor tar -xzvf wr_fslidar.tar.gz and get the file fold of "wr_fslidar" Clone this "wr_fslidar" file folder to your catkin's workspace src folder 2)Running catkin_make to build 3) Connect the lidar sensor with your computer, then type: sudo chmod 777 /dev/ttyusb0 4) Go inside your catkin workspace, such as "catkin_fslidar". cd catkin_fslidar source devel/setup.bash then run roscore 5) Opern another terminal and repeat to go inside your catkin_fslidar source devel/setup.bash roslaunch wr_fslidar fslidar_view.launch 6) Then you will see the lidar sensor message is showing on the rviz and enjoy it. 10. The causes that affect the normal use of the bee's eyes Element Factor of lengthening the measurement Multipath reflection When the laser energy returned from other objects is more than the target reflected light, there may be a wrong result. Surface Transparency colorless liquid or glass might cause wrong result Tiny material An object that is less than a light spot or to measure the corner of a measured object may result in a wrong measurement. 11. The cause of the abnormal work of the bee's eye Communication rate is not right COM port choice is wrong Speed instability Low voltage or voltage instability Azimuth loss

11 Mobile: Standard and optional configuration of bee eye item name quantity remark 1 FSD-F10 sensor 1 pcs 2 TTL convert USB 1 pcs 3 +5V power 1 pcs Choice 4 certification 1 pcs 5 Data wire 1 pcs Hefei FiduRobot Technology Co.,Ltd 20F,C Building,GuoyaoXingda City,Danxia road cross Feicui Road,Hefei, Anhui ,China Add:No.598 Fan Hua Ave,Feixi Dist Hefei,Anhui ,P.R.China