Yujin Robot YRL3V2 Series User manual

󾘥
󾘥󾘥
󾘥
󾘬󾘥󾘮󾘥󾘬󾘥󾘮󾘥󾘬
󾙓󾙒
󾙔󾙒󾙔󾙔󾙒󾙖

󾙕󾙔󾙓󾙒



󽘀









󾙔󾙒󾙔󾙔

󾙕
Change History
󾘥
󽘀
  
󾙓󾙒 󾙒󾙕󾙒󾙙󾙔󾙒󾙔󾙔 

󾙖
YRL3V2 Series User Guide
󾘥󾘥
󾙓󾙝 󾙘
󾙓󾙓󾙝󽘀 󾙘
󾙓󾙔󾙝 󾙘
󾙓󾙔󾙓󾙝 󾙘
󾙓󾙔󾙔󾙝 󾙘
󾙔󾙝 󾙚
󾙔󾙓󾙝 󾙚
󾙔󾙔󾙝 󾙚
󾙔󾙕󾙝 󾙚
󾙔󾙖󾙝 󾙛
󾙕󾙝 󾙓󾙒
󾙕󾙓󾙝 󾙓󾙒
󾙕󾙔󾙝󾙖 󾙓󾙓
󾙖󾙝󾙕󾙔 󾙓󾙔
󾙖󾙓󾙝 󾙓󾙔
󾙖󾙔󾙝 󾙓󾙔
󾙖󾙕󾙝 
󾙖󾙖󾙝 󾙓󾙖
󾙖󾙖󾙓󾙝 󾙓󾙖
󾙖󾙖󾙔󾙝 󾙓󾙖
󾙖󾙗󾙝 󾙓󾙗
󾙖󾙗󾙓󾙝 󾙓󾙗
󾙖󾙗󾙔󾙝 󾙓󾙘
󾙖󾙘󾙝 󾙓󾙙
󾙗󾙝 󾙓󾙚
󾙗󾙓󾙝 󾙓󾙚
󾙗󾙔󾙝 󾙓󾙛
󾙗󾙕󾙝 󾙔󾙓
󾘭󾙝 󾙔󾙔
󾙗󾙗󾙝 󾙔󾙕
󾙗󾙘󾙝 󾙔󾙕
󾙗󾙘󾙓󾙝 󾙔󾙖
󾙗󾙘󾙔󾙝 󾙔󾙗
󾙗󾙙󾙝󽘀 󾙔󾙘
󾙗󾙚󾙝 󾙔󾙚

󾙗
Table of Contents
󾘭󾙝 󾙔󾙛
󾘭󾘭󾙝󾘥󾘥 
󾙗󾙛󾙔󾙝󾘥 
󾙘󾙝󾘥 
󾙘󾙓󾙝 󾙕󾙒
󾙘󾙔󾙝 󾙕󾙒
󾙙󾙝󽘀 󾙕󾙓
󾙙󾙓󾙝󽘀 󾙕󾙓
󾙙󾙔󾙝 󾙕󾙓
󾙙󾙕󾙝 󾙕󾙔
󾙙󾙖󾙝󽘀 󾙕󾙔
󾙚󾙝 󾙕󾙕
󾙚󾙓󾙝 󾙕󾙕
󾙚󾙓󾙓󾙝 󾙕󾙕
󾙚󾙓󾙔󾙝 󾙕󾙗
󾙚󾙓󾙕󾙝 󾙕󾙙
󾙚󾙔󾙝 󾙕󾙚
󾙚󾙔󾙓󾙝 󾙕󾙚
󾙚󾙔󾙔󾙝 󾙕󾙚

󾙘
YRL3V2 Series User Guide
󾙓󾙝
󾙓󾙓󾙝󽘀



󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥
󾘥󾘥󾘭

󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥
󾘥󾘭


󾙓󾙔󾙝

•

󾙓󾙔󾙓󾙝
•󽘀
•

•

•󽘀󽘀

•󽘀

•󽘁


•

•

󾙓󾙔󾙔󾙝
•󽘀

•
•

•󽘀


󾙙
Introduction
•
•󽗿

•
•󽘀
•󽘀

•󽘀󾙙󽘀
󾙕󾙓

󾙚
YRL3V2 Series User Guide
󾙔󾙝
󾙔󾙓󾙝
󾙕󾙔󾙕󾙘󾙒󾙕
󾙕󾙔󾙖

󽗿
 
󾙕󾙔󾙒󾙗 󾙗
󾙕󾙔󾙓󾙒 󾙓󾙒
 
YUJIN LiDAR Object
Measuring distance
Laser Diode
Output light Reflection
Optical
System
Input light
Photo Diode
(Avalanche)
Time measuring circuit
󾙓
󾙔󾙔󾙝
•󾙕󾙘󾙒󾙕
•󾙖󾙕󾙘󾙒
󾙚󾙒
•
•󾙓󾙔
•
•󾙘󾙙󽘀
󾙔󾙕󾙝
•
•
•
•

󾙛
Introduction
󾙔󾙖󾙝
󾙕󾙔󾙕󾙔󾘥󾘥󾙕󾙔
󾘥󾘥󾘩󾘥󾘪󾘥󾘥󾘥󾘥󾘥󾘩󾘥󾘪󾘥󾘥󾘫󾘥󾘥

󾘥󾘥󾘥󽘀
󾙕󾙔󽘀
󾘥󾘥
󾘥
󾘥


󾘥
󾘥󾘥
󾘥󾘥󾘩󾘥󾘪
󾘥󾘥
󾘥󾘥󾘩󾘥󾘪
󾙔󾙕󾙔

󾙓󾙒
YRL3V2 Series User Guide
󾘭󾙝󾘥󾘥󾘥
󾘭󾙝󾘥
󾙕󾙔󾙕󾙒󾙒󾙒󾙒

•󾙓󾙚󾙒󾙓󾙚󾙒
•󾙖󾙒󾙖󾙒󾙚󾙒
•

•󽘁
•
•
•

󾘧󾘭󾘥󾘥󾘭󾘥󾘥󾘥󾘩󾘪󾘧󾘥󾘥


󾙓󾙓
󾙕󾙔󾙝󾙖
󾙕󾙔󾙖

󾙓 󾙔
󾙕 󾙖
󾙖󾙒
󾙓󾙗
󾙖󾙒
󾙒
󾙕󾙗
󾙗
󾙒
Upper
Vertical
󾙔󾙒
Vertical
󾙔󾙒
Lower
Vertical
󾙔󾙒
Upper
Vertical
󾙗󾙗
Lower
Vertical
󾙔󾙗
󾙗
󾙓󾙗
󾙕󾙗
󾙒
󾙓󾙒
󾙓󾙒
󾙒
Upper
Horizontal
󾙕󾙘󾙒
Horizontal
󾙕󾙘󾙒
Horizontal
󾙕󾙘󾙒
Lower
Horizontal
󾙔󾙙󾙒
Upper
Horizontal
󾙕󾙘󾙒
Lower
Horizontal
󾙔󾙙󾙒
Vertical
󾙖󾙒
󾙓 󾙔
󾙕 󾙖
󾙖󾙒
󾙓󾙗
󾙖󾙒
󾙒
󾙕󾙗
󾙗
󾙒
Upper
Vertical
󾙔󾙒
Vertical
󾙔󾙒
Lower
Vertical
󾙔󾙒
Upper
Vertical
󾙗󾙗
Lower
Vertical
󾙔󾙗
󾙗
󾙓󾙗
󾙕󾙗
󾙒
󾙓󾙒
󾙓󾙒
󾙒
Upper
Horizontal
󾙕󾙘󾙒
Horizontal
󾙕󾙘󾙒
Horizontal
󾙕󾙘󾙒
Lower
Horizontal
󾙔󾙙󾙒
Upper
Horizontal
󾙕󾙘󾙒
Lower
Horizontal
󾙔󾙙󾙒
Vertical
󾙖󾙒


•
•


•
•
󾙓 󾙔
󾙕 󾙖
󾙖󾙒
󾙓󾙗
󾙖󾙒
󾙒
󾙕󾙗
󾙗
󾙒
Upper
Vertical
󾙔󾙒
Vertical
󾙔󾙒
Lower
Vertical
󾙔󾙒
Upper
Vertical
󾙗󾙗
Lower
Vertical
󾙔󾙗
󾙗
󾙓󾙗
󾙕󾙗
󾙒
󾙓󾙒
󾙓󾙒
󾙒
Upper
Horizontal
󾙕󾙘󾙒
Horizontal
󾙕󾙘󾙒
Horizontal
󾙕󾙘󾙒
Lower
Horizontal
󾙔󾙙󾙒
Upper
Horizontal
󾙕󾙘󾙒
Lower
Horizontal
󾙔󾙙󾙒
Vertical
󾙖󾙒
󾙓 󾙔
󾙕 󾙖
󾙖󾙒
󾙓󾙗
󾙖󾙒
󾙒
󾙕󾙗
󾙗
󾙒
Upper
Vertical
󾙔󾙒
Vertical
󾙔󾙒
Lower
Vertical
󾙔󾙒
Upper
Vertical
󾙗󾙗
Lower
Vertical
󾙔󾙗
󾙗
󾙓󾙗
󾙕󾙗
󾙒
󾙓󾙒
󾙓󾙒
󾙒
Upper
Horizontal
󾙕󾙘󾙒
Horizontal
󾙕󾙘󾙒
Horizontal
󾙕󾙘󾙒
Lower
Horizontal
󾙔󾙙󾙒
Upper
Horizontal
󾙕󾙘󾙒
Lower
Horizontal
󾙔󾙙󾙒
Vertical
󾙖󾙒


•
•


•



























󾙓󾙔
YRL3V2 Series User Guide
󾙖󾙝󾙕󾙔
󾘭󾙝
󾘥󾘥

 󾙕󾙔
 󾙓
 󾙓
 



󾙖󾙔󾙝
󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘭







󾙕󾙕󾙔󾘥

󾙓󾙕
Installing YUJIN LiDAR
󾙖󾙕󾙝
󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘫󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥
󾘭


󾙓󾙓
󾙓
󾙓󾙒
󾙖 󾙗
󾙔
󾙕
󾙚
󾙘
󾙛
󾙙
󾙖󾙕󾙔󾘥󾘥
󾙓

󾙙

󾙔

󾙚

󾙕

󾙛

󾙖

󾙓󾙒
󾙒
󾙗

󾙓󾙓
󾙕󾙖
󾙘


󾙓󾙖
YRL3V2 Series User Guide
󾙖󾙖󾙝
󾙖󾙖󾙓󾙝


•󽘂

•

•
󾙖󾙖󾙔󾙝
󽘀
󾙕󽘀

󾘥󾘥
󾘥󾘥󾘥
󾙗󾙕󾙔

󾙒

󾘥󾘥
󾘩󾘥󾘥󾘪

󾙓󾙗
Installing YUJIN LiDAR
󾙖󾙗󾙝
󾙕󾙔󾙔󾙙󾙓
󾙓

󾘥
󾘥


󾘫󾘥󾙔󾙙
󾙖󾙗󾙓󾙝
󾙓 
󾙔 
󾙕 

•
•

󾘥
󾘧󾘭󾘭󾘥󾘥󾘥󾘧󾘥󾘥󾘭

󾙓󾙘
YRL3V2 Series User Guide
󾘭󾘭󾙝󾘥󾘥
•
󾙓󾙒󾙔󾙓󾙔󾙒󾙗󾙒󾙓
󾘥󾘭 

󾘬
󾙕
󾙖
󾙗
•
󾙓󾙒󾙔󾙓󾙔󾙒󾙗󾙒󾙔
󾘥󾘭 

󾘬
󾙕
󾙖
󾙗
•󾙖󾙗
•
•
•
󾙖󾙗
󾙓󾙒󾙔󾙚󾙒󾙖󾙒󾙔󾙒󾙓󾙓󾙒󾙔󾙚󾙒󾙖󾙒󾙓
󾘥󾘭 

󾘬
󾙕
󾙘
󾘥󾘭 


󾙕
󾙖
󾘥󾘭 


󾙕
󾙖
1
8
3
1
1
2
3
4
12
34
󾙕󾙛󾙒󾙓󾙖󾙒󾙕󾙒
󾘥󾘭  
 
 

󾙓󾙙
Using YUJIN LiDAR Viewer
󾙖󾙘󾙝


󾙓 
•

󾙔 
•
•


󾙓 
󾙔 

󾙓󾙚
YRL3V2 Series User Guide
󾙗󾙝
󾘭󾙝󾘥󾘥
 󾘥󾘥󾘻󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘭

•

•󾙔󾙒󾙒󾙖

󾙓󾙛
Using YUJIN LiDAR Viewer
󾙗󾙔󾙝
󾙓 
󾙔 󾘲󾘳
󾙕 󾙖󾘥󾘥󾘥󾘥󾘭󾘥󾘲󾘳

󾙓󾙛󾙔󾙓󾙘󾙚󾙓󾙕󾙙
󾙓󾙛󾙔󾙓󾙘󾙚󾙓󾙕󾙙 󾙔󾙗󾙗󾙔󾙗󾙗󾙔󾙗󾙗󾙒
󾙘󾙖

󾙔󾙒
YRL3V2 Series User Guide
󾙖 󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘭
󾙗 
󾙓󾙛󾙔󾙓󾙘󾙚󾙓󾙕󾙙