Benewake TF02-Pro-W-485 Tšitiso ea ho lemoha LIDAR Sensor
SEBAKA
Basebelisi ba ratehang:
Kea leboha ha u khethile lihlahisoa tsa Benewake. Ka sepheo sa ho fana ka boiphihlelo bo betere ho uena, re ngola bukana ena bakeng sa ts'ebetso e bonolo le e bonolo ea sehlahisoa sa rona, ka tšepo ea ho rarolla mathata a tloaelehileng ao u ka kopanang le ona.
Bukana ena ea mosebedisi e na le lintlha tse nepahetseng mabapi le kenyelletso ea sehlahisoa, tšebeliso le tlhokomelo ea TF02-Pro-W-485, e akaretsa kenyelletso ea ts'ebetso ea sehlahisoa le tharollo ea mathata a tloaelehileng. Ka kopo bala bukana ena ka hloko pele u sebelisa sehlahisoa. Hopola litemoso tsa ho qoba likotsi, 'me ka kopo latela mehato e hlalositsoeng bukeng ea tataiso ha u e sebelisa. Haeba u na le mathata ka mokhoa oa ho sebelisa, u amohelehile ho ikopanya le Benewake ka nako efe kapa efe bakeng sa thuso.
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Aterese ea Ntlo-kholo
Benewake (Beijing) Co., Ltd.
No.3030, Mokatong oa 3, Moaho o Ikemetseng oa Boiqapelo, No.6 Chuangye Road, Setereke sa Haidian, Beijing, China
Tlaleho ea Copyright
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Boithorollo
Ha lihlahisoa tsa rona li ntse li ntlafala le ho ntlafatsoa khafetsa, litlhaloso tsa TF02-Pro-W-485 li ka fetoha. Ka kopo, sheba ofisiri website bakeng sa phetolelo ea morao-rao.
FEELAVIEW
TF02-Pro-W-485 ke ntlha e le 'ngoe ho tloha LiDAR e ipapisitse le TF02-Pro-W e ntlafalitsoeng e sebelisang molao-motheo oa ToF (Nako ea Sefofane). E ntlafalitsoe ka sebopeho sa puisano, input voltage le ho khutlisa voltagtshireletso, e ikamahanyang le litlhoko tsa maemo a indasteri.
Tlhaloso ea Setsebi
Lethathamo la 1-1 Litlhaloso tsa tekheniki tsa TF02-Pro-W-485
| Mofuta | Mekhahlelo | Boleng | |
| Ts'ebetso ea sehlahisoa | Sebaka sa ts'ebetso | 90% reflectivity, 0Klux | 0.1m~25m |
| 10% reflectivity, 0Klux | 0.1m~12m | ||
| 90% reflectivity, 100Klux | 0.1m~25m | ||
| 10% reflectivity, 100Klux | 0.1m~12m | ||
| Ho nepahala① | ± 6cm (0.1m ~ 6m)
± 1% (6m ~ 25m) |
||
| Qeto ea hole① | 1cm | ||
| Sekhahla sa foreimi② | 1Hz ~ 1000Hz
(ea fetoha, ea kamehla 100Hz) |
||
| Pheta-pheta① | 1 boima: ＜2cm
(0.1m~25m@90% reflectivity) |
||
| Ambient light immune immune | Tse 100Klux | ||
| Reite ea sebaka | IP5X | ||
| Mekhahlelo ea Optical | Tšireletseho ea Photobiological | Sehlopha sa1 (IEC60825) | |
| Bohareng ba wavelength | 850nm | ||
| Mohloli oa leseli | VCSEL | ||
| FoV③ | 3° | ||
| Litekanyetso tsa motlakase | Phepelo voltage | Tlhaloso: DC 7V ~ 30V | |
| Karolelano ea hona joale | ≤200mA@12V | ||
| Tšebeliso ea matla | ≤4.8W | ||
| Peak current | 400mA @ 12V | ||
| Ba bang | Boemo | 85mm×59mm×43mm (L×H×W) | |
| Matlo | PC / ABS | ||
| Mocheso oa ho sebetsa | -20 ℃ ~ 60 ℃ | ||
| Mocheso oa polokelo | -30 ℃ ~ 80 ℃ | ||
| Boima ba 'mele | 92g (ka likhoele) | ||
| Bolelele ba thapo | 120cm |
Hlokomela
- Letoto la ho lemoha le lekanngoa ka boto e tloaelehileng e tšoeu (90% reflectivity).
- Sekhahla sa foreimi se ka fetoloa. Boleng ba kamehla ke 100Hz 'me boleng bo phahameng ke 1000Hz, sekhahla sa foreimi se ikhethileng se lokela ho baloa ka foromo: 2000/n (n ke palo e felletseng e nang le ≥ 2).
- Lehlakore ke boleng ba khopolo-taba, boleng ba sebele ba angle bo na le ho kheloha ho itseng.
Tlhokomelo le Tlhoekiso
- Pele o bulela, ka kopo sheba hore na seipone se pepeneneng sa fensetere se hloekile, 'me u se hloekise hang-hang haeba se silafetse.
- Ka mor'a ho sebelisa sesebelisoa, hlahloba optics. Haeba li silafetse, ka kopo li hloekise hang-hang.
- Li-optics li lokela ho hloekisoa khafetsa haeba sesebelisoa se sebetsoa sebakeng se matla ka nako e telele.
- Pele o hloekisa khafetsa, ka kopo tima motlakase. Ho sebelisa lesela le bonolo ho hlakola fensetere ka bonolo ka tsela e ts'oanang ha sesebelisoa se sa sebetse, ho qoba ho hlakola khafetsa le ho senya seipone sa fensetere.
- U se ke ua tlosa sesepa sa ho tlosa lerōle, se ka bakang ho hlōleha ha thepa. Haeba sesepa sa ho tlosa lerole se sa tloaeleha, ka kopo ikopanye bw@benewake.com.
- Ha mochini o tsamaisang o koetsoe ke lerōle ka nako e telele, mochini oa ho tsamaisa o ka senyeha ka lebaka la ho eketseha ha khanyetso. Ka kopo hloekisa shaft ea ho tsamaisa khafetsa.
- Haeba o hloka tlhoekiso e tebileng ea li-optics tsa kahare, ka kopo ikopanye bw@benewake.com ho fana ka keletso ea litsebi.
Ponahalo le Sebopeho
Ponahalo le boholo ba TF02-Pro-W-485 li bonts'oa ho Figure 1-1 le Figure 1-2.
TF02-Pro-W-485 e khothalletsoa ho sebelisa li-screw tsa M2.5 round Phillips bakeng sa ho kenya. Ka kopo tlosa filimi e sireletsang ea lense ea optical pele u e sebelisa. Lense ea phanele e ka pele ea LiDAR e ke ke ea koaheloa. Ke kopa o e boloke e hloekile. Bokaholimo ba lense ea optical ke zero e qalang ea LiDAR. Sebaka sa ho lemoha sa TF02-Pro-W-485 ke 3°. Libakeng tse fapaneng, boholo ba sebaka se khanyang, e leng bolelele ba moeli oa sebaka sa ho lemoha, bo fapane, joalokaha ho bontšitsoe setšoantšong sa 1-3. Bolelele ba mahlakore a sebaka sa ho lemoha bohole bo fapaneng (lebaka la ho lemoha ke lisekoere), joalo ka ha ho bonts'itsoe ho Lethathamo la 1-2.
Tafole 1-2 Spot Size ka Mekgahlelo e Fapaneng
| Sebaka(m) | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 15 | 20 | 22 |
| Spot size(cm) | 5 | 10 | 16 | 21 | 26 | 31 | 37 | 42 | 47 | 52 | 79 | 105 | 115 |
Hlokomela: Bolelele ba lehlakore ba ntho e shebiloeng ka kakaretso bo lokela ho ba kholo ho feta boholo ba letheba le khanyang la TF02-Pro-W-485; haeba bolelele ba lehlakore la ntho e fumanoeng bo le nyane ho feta boholo ba letheba le khanyang, tlhahiso (Distance) ho tloha TF02-Pro-W-485 e tla ba boleng pakeng tsa litekanyetso tsa sebaka sa sebele sa lintho tse peli.
Polokelo
- Sesebelisoa se lokela ho bolokoa ho -30°C ho ea ho 80°C ka mongobo o lekanyelitsoeng ≤ 60% le moea o se nang likhase tse senyang.
- Pele o boloka, ka kopo etsa bonnete ba hore likhokahano tsohle li khaotsoe kapa likoahelo tsa lerole li kentsoe kapa li koahetsoe ho netefatsa bohloeki.
- Haeba nako ea polokelo e feta likhoeli tse tharo, ka kopo etsa tlhahlobo ea ho sebetsa pele u e sebelisa, ho netefatsa hore sesebelisoa se ka sebelisoa maemong a tloaelehileng.
- Bakeng sa ho netefatsa ts'ebetso ea sehlahisoa, u se ke ua bula khetla ea sehlahisoa kapa ua tlosa sefe ea IR-pass.
SEBAKATSO
Tlhaloso Mabapi le Wiring Sequence
Mohatla o ka ntle oa mohatla oa TF02-Pro-W-485 ha o na sehokelo ka ho sa feleng, tatellano ea lithapo e bontšoa ho Lethathamo la 2-1.
Lethathamo la 2-1 Tlhaloso ea ts'ebetso ea mohala o mong le o mong
| Mobala oa lithapo | Mosebetsi | Tlhaloso |
| Khubedu | VCC | Phepelo ea motlakase |
| Ntsho | GND | Fatše |
| Bosoeu | RS-485-B | Lintlha |
| Botala | RS-485-A | DATA + |
Litšobotsi tsa Motlakase
TF02-Pro-W-485 e na le ho fetatage le ho khutlisa tšireletso ea polarity, empa u se ke ua hokela ho liporo tsa matla tse phahameng ho feta 36V, reverse polarity protection voltagE ke -30V. Litšobotsi tsa motlakase li bontšoa ho Lethathamo la 2-2.
Lethathamo la 2-2 Mekhahlelo e meholo ea motlakase ea TF02-Pro-W-485
| Paramethara | Boleng |
| Phepelo voltage | Tlhaloso: DC 7V ~ 30V |
| Karolelano ea hona joale | ≤200mA@12V |
| Peak current | 400mA @ 12V |
| Karolelano ea tšebeliso ea matla | ≤4.8W |
| Boemo ba puisano | RS-485 |
MOSEBETSI MPHIRI
Sehlahisoa sa ho tlosa lerōle se sebetsa ka potoloho e tsitsitseng, se na le ts'ebetso ea ho tlosa lerōle lihora tse ling le tse ling tsa 4 ka mokhoa o tloaelehileng oa ho sebetsa. Ts'ebetso e 'ngoe le e' ngoe ea ho tlosa lerōle e tsamaisoa ke servo ea LiDAR, wiper e ea morao le ho ea pele ka nako e le 'ngoe. 'Me TF02-Pro-W-485 e tla boela e etse ts'ebetso ea ho tlosa lerōle hang ka mor'a motlakase o mong le o mong. Ntle le moo, moreki a ka laola LiDAR hang-hang ka ho romella taelo ea ho tlosa lerōle, 'me a fetole linako tsa ho hlakola le ho boloka litlhophiso. Nakong ea ts'ebetso ea ho tlosa lerōle, LiDAR ha e lekanye le ho hlahisa lintlha. Wiper e emisa sebakeng sa A ha e sa sebetse, 'me e tloha sebakeng sa A ho ea ho B nakong ea ts'ebetso, ebe e khutlela sebakeng sa A, maemo a pele le a ho felisa a bontšoa setšoantšong sa 3-1.
Hlokomela: Ho khothaletsoa hore nako ea ho tlosa lerōle e be e kholo ho feta metsotso e 30, ha servo e le maemong a mocheso o phahameng (mocheso o teng> 40 ℃).
TS'ELISO TS'ELISO
RS-485 Puisano Interface
TF02-Pro-W-485 e sebelisa mokhoa oa puisano oa RS-485 o nang le 2-wire interface, li-parameter tsa protocol ea puisano li bontšoa ho Lethathamo la 4-1. Sekhahla sa kamehla sa baud ke 115200, ID ea lekhoba la kamehla ke 0x01.
Lethathamo la 4-1 TF02-Pro-W-485 RS-485 protocol ea puisano
| Khokahano ea puisano | RS-485 |
| Sekhahla sa kamehla sa baud | 115200 |
| Boitsebiso bo fokolang | 8 |
| Emisa hanyane | 1 |
| Ho hlahloba bonngoe | Ha ho letho |
Tlhokomediso
TF02-Pro-W-485 e ts'ehetsa 9600, 14400, 19200, 38400, 43000, 57600, 76800, 115200 (ka ho sa feleng), 128000, 230400, 256000, 460800 921600 likhahla tse mpe. Ha e khothalletsoe ho sebelisa sekhahla sa baud ka holimo ho 1382400.
Protocol ea Modbus
- Tlhaloso mabapi le sebopeho sa foreimi
Ha protocol ea TF02-Pro-W-485 Modbus e sebetsa, mokhoa oa taelo ea ho bala oa Modbus o bontšoa ho Lethathamo la 4-2.
Tafole 4-2 Moetso oa taelo ea ho bala oa ModbusSebaka sa aterese Mosebetsi khoutu Ngolisa aterese Nomoro ea ngodiso CRC_Tse tlase CRC_Holimo 01 03 00 00 00 01 xx xx Sebopeho sa data se khutlisitsoeng ke TF02-Pro-W-485 se tjena:
Letlapa la 4-3 Sebopeho sa foreimi ya dataSebaka sa aterese Mosebetsi khoutu Lintlha bolelele Dist_Hodimo Dist_Low CRC_Tse tlase CRC_Holimo 01 03 02 XX XX xx xx - Khoutu ea Mosebetsi
Khoutu ea ts'ebetso ea TF02-Pro-W-485 e bonts'oa ho Lethathamo la 4-4.
Lethathamo la 4-4 Khoutu ea ts'ebetso ea TF02-Pro-W-485Khoutu ea tšebetso Tlhaloso 03 Bala rejisetara 06 Ngola rejisetara - Ngolisa Aterese
- Liaterese tsohle tsa registara ke hexadecimal mme boleng ba rejisetara ke li-bits tse 16;
- Kamora ho seta paramethara, boloka litlhophiso ebe o qala LiDAR hore e sebetse.
- Ngolisa Aterese bakeng sa Khoutu ea Mosebetsi oa ho Bala
Lethathamo la 4-5 Lenane la ho ngolisa liaterese u sebelisa khoutu ea ts'ebetso: 0x03 (bala-feela)Ngolisa aterese Tlhaloso Tlhaloso 00 00 Mohl Sebaka, yuniti: cm 00 01 Matla Matla a pontsho 00 03 Nako e phahameng ea 16-bitamp Likotoana tse 2 tsa maemo a holimoamp emela nako e lekanyelitsoeng ea ho qala LiDAR, yuniti: ms 00 04 Nako e tlase ea 16-bitamp Likhechana tse 2 tsa maemo a tlaseamp emela nako e lekanyelitsoeng ea ho qala LiDAR, yuniti: ms 00 06 E phahameng 16bit ea mofuta oa software 00 + nomoro ea mofuta o moholo 00 07 Mofuta o tlase oa 16-bit oa software Nomoro e nyane ea mofuta + nomoro ea mofuta o ntlafalitsoeng - Ngolisa Aterese bakeng sa Khoutu ea Mosebetsi oa ho Ngola
Lethathamo la 4-6 Lethathamo la ho ngolisa liaterese u sebelisa khoutu ea ts'ebetso: 0x06 (ngola feela)Ngolisa aterese Tlhaloso Tlhaloso 00 80 Boloka litlhophiso Ngola boleng bofe kapa bofe ho boloka litlhophiso 00 81 Ho tima/ho qala bocha Boleng ba ngoliso: 0-Power Off (ha e fumanehe hajoale); 1-Qala bocha 00 82 Tlosa Modbus Boleng ba ho ngolisa: 1-Thibela Modbus; Tse ling-Phoso ea karabo 00 83 Sekhahla sa Baud Holimo Beha sekhahla sa baud. Qala bocha ho sebetsa 00 84 Sekhahla sa Baud Low Beha sekhahla sa baud. Qala bocha ho sebetsa 00 85 ID ea Lekhoba Beha ID ea lekhoba. Qala hape hore e sebetse (kamehla 0x01) 00 86 FPS Beha sekhahla sa foreimi. Qala bocha ho sebetsa (ka ho feletseng 100Hz) 00 87 Mokhoa oa ho sebetsa Seta mokhoa oa ho sebetsa. Qala bocha ho sebetsa kamora ho boloka li-setting. Boleng ba ngoliso: 0- Mokhoa oa ho lemoha o sa khaotse (kamehla) 1-Trigger mode Ba bang-Phoso ea karabo
00 88 Mokhoa oa tšebeliso ea matla a tlase Seta mokhoa oa ho sebelisa matla a tlase, Qala bocha ho sebetsa ka mor'a ho boloka litlhophiso. Boleng ba ngoliso: 0-Thibela (ka ho sa feleng)
>0 le≤10-Enable (boleng bo ka hare ho sampmaqhubu a mang.)
00 89 Khutlisa tse sa feleng Ngola boleng bofe kapa bofe. Qala bocha ho sebetsa kamora ho boloka li-setting. 00 8A Qala ho hlakola Ngola boleng bofe kapa bofe. Qala ho hlakola ka nako efe kapa efe. 00 8C Fetola potoloho ea ho tlosa lerōle Yuniti: metsotso (metsotso e 240 ea kamehla). Etsa ts'ebetso hang-hang. 00 8D Fetola palo ea li-wiper swings Nomoro e lokela ho ba lipakeng tsa 1 le 10 (ka ho sa feleng). Etsa ts'ebetso hang-hang.
- Ngolisa Aterese bakeng sa Khoutu ea Mosebetsi oa ho Bala
Tlhophiso ea Parameter
- Letlapa la 4-7 TF02-Pro-W-485 kakaretso ea paramethara tlas'a mokhoa oa lihokelo tsa serial
Mosebetsi Taelo Karabo Tlhaloso Lumella Modbus 5A 05 15 01 75 5A 05 15 01 75 Boloka li-setting ebe u qala bocha hore li sebetse. Boloka boemo 5A 04 11 6F 5A 05 11 00 70 - Tafole 4-8 TF02-Pro-W-485 kakaretso ea paramethara e nang le litaelo tsa Modbus
Mosebetsi Taelo Karabo Tlhaloso Bala sebaka 01 03 00 00 00 01 84 0A
01 03 02 DH DL CL CH DH: Likotoana tse 8 tsa boemo bo holimo DL: Likotoana tse 8 tsa boemo bo tlase CL: Likotoana tse 8 tsa maemo a tlase tsa CRC CH: Likotoana tse 8 tse phahameng tsa CRC
Bala sebaka le matla 01 03 00 00 00 02 C4 0B
01 03 04 DH DL SH SL CL CH DH: Li-bits tse 8 tsa boemo bo holimo DL: Likotoana tse 8 tsa sebaka se tlase SH: Likotoana tse 8 tse phahameng tsa matla a pontšo
SL: Likotoana tse 8 tse tlase tsa matla a lets'oao CL: Likotoana tse 8 tsa maemo a tlase tsa CRC CH: Likotoana tse 8 tse phahameng tsa CRC
Bala mofuta oa firmware 01 03 00 06 00 02 24 0A
01 03 04 00 VM VS VC CL
CH
Mofuta oa software ke VM.VS.VC Beha sekhahla sa baud 01 06 00 83 BH1 BH2 CL CH
01 06 00 84
BL1 BL2 CL CH
01 06 00 83 BH1 BH2 CL CH
01 06 00 84
BL1 BL2 CL CH
BH1, BH2, BL1, BL2 li holimo, li phahameng tsa bobeli, li-byte tsa bobeli tse tlaase le tse tlaase tsa tekanyo ea baud. Mohlala, beha sekhahla sa baud ho 9600 (0x00002580) BH1=00 BH2=00 CL=78 CH=22
BL1=25 BL2=80 CL=D2 CH=D3
Beha ID ea lekhoba 01 06 00 85 IH IL CL CH 01 06 00 85 IH IL CL CH IH, IL ke li-byte tse holimo le tse tlase tsa ID. Bakeng sa mohlalaample, beha ID ho 2, IH=00 IL=02 CL=19 CH=E2 Beha sekhahla sa foreimi 01 06 00 86 FH FL CL CH 01 06 00 86 FH FL CL CH FH, FL ke li-byte tse holimo le tse tlase tsa sekhahla sa foreimi. Mohlala, Beha sekhahla sa foreimi ho 100 (0x0064), FH=00 FL=64 CL=69 CH=C8
Beha mokhoa oa tšebeliso ea matla a tlase 01 06 00 88 LH LL CL CH 01 06 00 88 LH LL CL CH LH, LL ke li-byte tse phahameng le tse tlase tsa matla a tlaseampsekhahla sa ling. Bakeng sa mohlalaample, e behe ho 5HZ mokhoa oa tšebeliso ea matla a tlase, LH=00 LL=05 CL=C9 CH=E3
Boloka litlhophiso 01 06 00 80 00 00 88 22
01 06 00 80 00 00 88 22
Boloka litlhophiso ebe u qala LiDAR hape hore e sebetse Thibela Modbus
01 06 00 82 00 01 E8 22
01 06 00 82 00 01 E8 22
Boloka litlhophiso ebe u qala LiDAR hape hore e sebetse Qala ho hlapa
01 06 00 8A 00 00 A8 20
01 06 00 8A 00 00 A8 20
Qala ho hlakola ka nako efe kapa efe Fetola potoloho ea ho tlosa lerōle 01 06 00 8C PH PL CL CH 01 06 00 8C PH PL CL CH PH, PL ke li-byte tse phahameng le tse tlase tsa potoloho. Mohlala, ho etsa wiper ho sebetsa metsotso e meng le e meng e 240 (0x00F0), PH=00 PL=F0 CL=48 CH=65 Fetola palo ea maeto a ho khutla a wiper 01 06 00 8D WH WL CL CH 01 06 00 8D WH WL CL CH WH, WL ke li-byte tse holimo le tse tlase tsa palo ea maeto a ho khutla. Nomoro e be pakeng tsa 1 le 10. Mohlala, habeli ka nako WH=00 WL=02 CL=98 CH=20
Tlhokomediso
TF02-Pro-W-485 E tšehetsa feela mokhoa oa RTU ho buisana ka sehokelo sa serial.
Tlhophiso Example
- Tlas'a RS-485 serial link mode, nolofalletsa protocol ea Modbus:
- 5A 05 15 01 75 // Nolofatsa protocol ea Modbus
- 5A 04 11 6F // Boloka boemo
Qala hape 'me u kenye mokhoa oa Modbus.
- Tlas'a mokhoa oa Modbus, tima Protocol ea Modbus:
- 01 06 00 82 00 01 E8 22 // Aterese ea kamehla 01, tima Modbus
- 01 06 00 80 00 00 88 22 // Aterese ea kamehla 01, boloka maemo
- Qala hape 'me u tsoe ho Modbus.
REV: 12/05/2022 · ©2022 Benewake (Beijing) Co., Ltd. | en.benewake.com | Litokelo tsohle li bolokiloe BP-UM-34 A01
Litokomane / Lisebelisoa
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Benewake TF02-Pro-W-485 Tšitiso ea ho lemoha LIDAR Sensor [pdf] Bukana ea Mosebelisi Sensor ea TF02-Pro-W-485 ea Thibelo LIDAR, TF02-Pro-W-485, Sensor ea ho Lemoha Litšitiso LIDAR, Sensor ea ho Lemoha LIDAR, Sensor ea LIDAR, Sensor |
