LiDAR is an acronym of light detection and ranging. It is a kind of system having laser, GPS, INS in one to capture data and generate accurate DEM. The integration of these three technologies is capable of highly precisely positioning the spot making by the laser beam, with detection accuracy reaching centimeter-level. Therefore, the best advantage of LiDAR is accurate, quick and efficient. In recent two years, LiDAR is commonly used in avoiding obstacles for autonomous driving and robot, which is quite an essential core sensor for autonomous vehicle and robot 's localization, navigation and anti-collision. LiDAR also has a wide range application in ADAS, AGV, port automation, industrial automation, smart security, smart traffic, 3D mapping, etc .
As the laser transmitter emits a laser pulse, the internal timer starts to calculate the time (t1) and stops (t2) when the laser receiver receives the partial energy of the laser wave bouncing off any objects.
Distance = Light Speed × (t2- t1)/2
The destination IP of LiDAR is not as same as the local IP of PC.
Please check if WinPacp is installed or not.
Make use of Wireshark to capture the radar data packets and find the local IP and destination IP of the radar you set before.
In the Rviz, the name set in the Fixed Frame should be as same as the lslidar_c16.launch's.
Check if the Windows firewall has closed or not. After closing the Windows firewall, restart the LiDAR.
The local IP is source address, the destination host IP is destination address, the data is sent to computer from LiDAR.
The performance of N301 will be a little worse when detecting glasses, because most of the light is transmitted. If the wardrobe is too black, the reflectivity of the material is less than 5%, it will be hard to detect, too.
The start-up current is 1.5A, it is 0.45A when working properly.
The LiDAR is set to get total 20000 points per second. If the scan frequency is 10hz which means 10 rounds per second, then it gets 2000 points per round. However, the motor cannot be rotated 10 rounds exactly, it is rotated a bit slower or faster, so the LiDAR gets a few more or less than 2000 points per round.
The IP rating of N301 is IP67, it is dustproof, waterproof and outdoor anti-thunder.
The complete machine's power dissipation is about 0.7W.
The blue point is the data it scans in real time. It turns red when the mouse is moved on it, and the red data in the bottom means the distance and angle between the point and LiDAR.
43°
In the negative direction of data cable.
①Provisional measure: dry the LiDAR, add a rain cover above the LiDAR (no sheltering from sight). ② We can add a small range blind zone and filter algorithm according to the client's requirement.
When the LiDAR works normally, the out outputs high level. When the LiDAR detect the obstacle in the anti-collision area, it outputs low level. And the PNP is on the contrary.
