Table of Contents
Related Manuals for SANKOE SKS-40S
Summary of Contents for SANKOE SKS-40S
- Page 1 SKS-40S Obstacle Avoidance 2D Lidar Obstacle Avoidance 2D Lidar Obstacle Avoidance 2D Lidar USER MANUAL Version 3.1 Getting more info & supports from Getting more info & supports from http://www.top1sensor.com http://www.top1sensor.com...
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Page 2: Table Of Contents
catalog Matters Needing Attention ·································································· - 1 - Safety Matters ··········································································· - 1 - Operational Environment ······························································ - 1 - Product Introduction ·········································································· - 2 - Basic Parameter ········································································· - 2 - Common Indicator Light Instructions ··············································· - 3 - External Wiring Instructions ··························································... - Page 3 Message Display Area ································································ - 22 - Software Setting Area ································································· - 22 - Lidar Area Drawing ··································································· - 23 - Defense Area Configuration ························································· - 23 - Defense Area Drawing Process ······················································ - 23 - Coordinate Setting Method to Draw Defense Area ······························· - 24 - Polygonal Zone Mapping Method ···················································...
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Page 4: Matters Needing Attention
SANKOE for testing; any disassembly, adjustment or device replacement must be performed by SANKOE. It is strictly prohibited to use hard objects to scrape the optical cover. Foreign body scraping may lead to optical covers scratches, which may affect ranging performance or generate noise data. -
Page 5: Product Introduction
Product Introduction Basic Parameter Product Features λ=905nm±15nm Laser Wavelength Laser divergence Angle <2.5 mrad Horizontal Laser Parallelism ±0 .3° 0.1m to 40m (White Target) Distance Measuring Range 0.1m to10m (Diffuse Reflectance10% ) Ranging Accuracy ±30mm Ranging Resolution 10mm Echo Intensity （... -
Page 6: Common Indicator Light Instructions
Common Indicator Light Instructions LEDStatus Indicator Green Blue Yellow Note Blink Lidar Power-on every0.5s econds Ever Bright NetworkConnection Normal Ever Bright Defense zone is Blink notset every0.5se conds Ever Bright Blink every1seconds Intrusion in theobservation area Ever Bright Blink Invasion in the perimeter every0.5sec onds... -
Page 7: External Wiring Instructions
External Wiring Instructions External Wiring Instructions Figure 2- 1 shown external cable connections. There are four external ports: P1, P2, P3, external cable connections. There are four external ports: P1, P2, P3, external cable connections. There are four external ports: P1, P2, P3, and P4. -
Page 8: Operational Principles
Figure 2-2.3 P3 female socket As shown in Figure 2-2.4, P4 is a waterproof holder for network cables. Network cables 2.4, P4 is a waterproof holder for network cables. Network cables 2.4, P4 is a waterproof holder for network cables. Network cables can be connected as communication channels. -
Page 9: Lidar Warning
Driven by the motor mechanism, the ranging module of the SKS will rotate clockwise to achieve a 360-degree full scan of the surrounding environment. Lidar Warning With the alarm area preset by the user, after the laser lidar detects that the object invades the alarm area, the lidar immediately outputs the alarm signal, and the system obtains the alarm signal, so as to avoid the obstacle. -
Page 10: Regional Group
Regional Group An area group may be set with multiple areas, as shown in FIGS. 4- 1 and 4-2, each area in the group may be independent or related to each other. The user may set it according to requirements. When an object invades into an area, the corresponding LED light will be lit and its corresponding output signal will be triggered. -
Page 11: Output
Output SKS Lidar output can switch NPN or PNP signals freely through upper computer software. ： There are two types of NPN signal outputs (OUT1 to OUT4) ① ： NPN open That is, when there is no alarm output, NPN and OUT_COM- remain disconnected, when there is alarm output, the level is the same as OUTPUT_COM-. -
Page 12: Device Debugging
Device Debugging Device Debugging System Environment System Environment The configuration software can be used only when it meets the following system The configuration software can be used only when it meets the following system The configuration software can be used only when it meets the following system requirements, as listed in Table 5 requirements, as listed in Table 5- 1: Items... -
Page 13: Ipaddress Configuration
2, after the network cable and power supply are connected, 2, after the network cable and power supply are connected, double-click the SANKOE SANKOE icon to start the software information display interface for icon to start the software information display interface for ）... -
Page 14: Software Operation Interface
If you use the USB connection, select the actual COM slogan and click "Connect" to enter the operation interface. and click "Connect" to enter the operation interface. Figure 5-4 Main interface of 4 Main interface of SANKOE View-SKS configuration software configuration software Software Operation Interface Software Operation Interface... -
Page 15: Parameter Setting Area
Figure 6 Figure 6- 1 SKS Software Operation Interface Parameter Setting Area Parameter Setting Area Parameter Setting Area includes seven detailed function configuration areas: Parameter Setting Area includes seven detailed function configuration areas: Parameter Setting Area includes seven detailed function configuration areas: Communication: Set output mapping between "Device address"... -
Page 16: Communication Network Configuration
Communication Network Configuration Communication Network Configuration Click the communication interface shown in Figure 6 Click the communication interface shown in Figure 6-3, fill in the new IP and port, 3, fill in the new IP and port, click Settings for IP configuration; after modification click Read to obtain the newly click Settings for IP configuration;... -
Page 17: Calibration Bias Correction
CIR is the threshold for determining the number of scanning turns, which can screen the CIR is the threshold for determining the number of scanning turns, which can screen the CIR is the threshold for determining the number of scanning turns, which can screen the target duration, as shown in the figure. -
Page 18: Data Display
value and the actual correction value. The compensation data needs to be adjust value and the actual correction value. The compensation data needs to be adjust value and the actual correction value. The compensation data needs to be adjusted slightly according to the written value and the actual compensation. slightly according to the written value and the actual compensation. -
Page 19: Output Mapping Setting
Output Mapping Setting Output Mapping Setting The prevention area is divided into three levels, which is the attention area, warning The prevention area is divided into three levels, which is the attention area, warning The prevention area is divided into three levels, which is the attention area, warning area and alarm area. -
Page 20: I/Oproperty Switching
6-7 Configuration information I/O Property Switching Property Switching As shown in Figure 6 As shown in Figure 6-8, select the output mode and the working mode under the I 8, select the output mode and the working mode under the I / O attribute: the high level and the low level of the lidar output can be switched. -
Page 21: Show Control View
Show Control View w Control View Figure 6- 11 Data point size, background color, coordinate axis, graph position, and 11 Data point size, background color, coordinate axis, graph position, and 11 Data point size, background color, coordinate axis, graph position, and data record can be selected based on personal requirements. -
Page 22: Defense Zone Setting Area
Defense Zone Setting Area Defense Zone Setting Area After setting the parameters, as shown in Figure 6 After setting the parameters, as shown in Figure 6- 13, set defense zone in the operation 13, set defense zone in the operation area, click "Freehand drawing", select area, click "Freehand drawing", select the type and shape of defense zone, and directly the type and shape of defense zone, and directly... - Page 23 Figure 6 Figure 6- 17 Defense zone Settings succeeded After the successful block setting, if the user needs to modify the type and size of a After the successful block setting, if the user needs to modify the type and size of a After the successful block setting, if the user needs to modify the type and size of a block figure, you can direc block figure, you can directly select the figure to stretch the movement, or click the...
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Page 24: Alarm Uploading Function
Figure 6 Figure 6- 19 Overlap setting of the three defense zones As shown in Figure 6-20, SKS SKS supports the setting of 16 regional groups from Zone1 to 6 regional groups from Zone1 to ZoneF. Regional group switch is realized by controlling IN1 to IN4. After the switch, the Regional group switch is realized by controlling IN1 to IN4. -
Page 25: Message Display Area
Click "Stop" to stop range, the motor continues to rotate and distance data returns; click Click "Stop" to stop range, the motor continues to rotate and distance data returns; click Click "Stop" to stop range, the motor continues to rotate and distance data returns; click "Restart"... -
Page 26: Lidar Area Drawing
Click on the "Lang..." You can set the client language, as shown in Figure 6 .." You can set the client language, as shown in Figure 6 .." You can set the client language, as shown in Figure 6-28. You can switch between English and Chinese. -
Page 27: Coordinate Setting Method To Draw Defense Area
Figure 6 Figure 6-30 Defense area Drawing command area Click to select the XY coordinate, which is easier to determine the distance when hand coordinate, which is easier to determine the distance when hand coordinate, which is easier to determine the distance when hand drawing. -
Page 28: Polygonal Zone Mapping Method
As shown in Figure 6-32, click Add to 32, click Add to select the shape type ellipse and Input center XY select the shape type ellipse and Input center XY coordinate point, which is the center of the circle. The width and height respectively coordinate point, which is the center of the circle. -
Page 29: Fan-Shaped Defense Area Drawing Method
Figure 6-35 Drawing a polygon defense area Fan-shaped Defense Area Drawing Method shaped Defense Area Drawing Method Make the protection area in the way of adding data points, compare the actual required Make the protection area in the way of adding data points, compare the actual required Make the protection area in the way of adding data points, compare the actual required data with the lidar map coordinate axis, and fill in data with the lidar map coordinate axis, and fill in the correct data point parameters in... -
Page 30: Parameter One-Click Import And Export Function
Figures 6-37 Rectangle area drawing Parameter One-click Import and Export click Import and Export Function Function Lidar is equipped with parameter one is equipped with parameter one-click import and export function. When the lidar click import and export function. When the lidar needs to configure the same parameters, the parameter configuration includes defense needs to configure the same parameters, the parameter configuration includes defense needs to configure the same parameters, the parameter configuration includes defense... -
Page 31: Firmware Upgrade
Figure 6-40 File Import If importing parameters succeeded is displayed, as shown in Figure 6 If importing parameters succeeded is displayed, as shown in Figure 6-41, the 41, the configuration is complete. configuration is complete. Figure 6-41 Importing parameters succeeded Firmware Upgrade Firmware Upgrade Click on the above software upgrade... - Page 32 In Figures 6-44, click on Load the file and select the correct upgrade program 44, click on Load the file and select the correct upgrade program 44, click on Load the file and select the correct upgrade program directory Figures 6-44 Add the firmware upgrade file Open and return to the upgrade firmware interface.
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Page 33: Communication Protocol
Communication protocol Measurement Data Protocol Measurement data (point cloud output) format: The point cloud data is transmitted based on the Ethernet UDP protocol package, with the default port number: 6668 (software configurable). Format description: a word is a data, low bytes in front, high bytes after. Struct uint16_t code;... - Page 34 - 31 -...
- Page 35 As Table 7-1, measuring packet analysis description 1, measuring packet analysis description Table 7- 1 Measurement Data Analysis Table - 32 -...
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Page 36: Alarm Data Protocol
Alarm Data Protocol struct LidarMsgHdr {char sign[4]; // must be"LMSG" uint32_t proto_version; // Protocol version,currently 0x101 char dev_sn[20]; //equipment number uint32_t dev_id; //Equipment serial number u i n t 3 2 _ t t i m e s t a m p ; / / t i m e s t a m p u i n t 3 2 _ t f l a g s ;... -
Page 37: Control Word Instruction
Control Word Instruction Control words can be Input in the command area to control or obtain some functions and parameters of lidar. LSTOPH ---stop rotation, stop power supply for the ranging head; Return: OK indicates success; LSTARH ---started working normally; Return: OK indicates success;... -
Page 38: Other Problems
③ Ifthe upper co mputer software has obtained the firewall permission but still cannot receive data, it is necessary to mputer software has obtained the firewall permission but still cannot receive data, it is necessary to mputer software has obtained the firewall permission but still cannot receive data, it is necessary to check whether the radar uploading address is the same as the computer address.
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