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Urg Benri's Functions

This page will explain the app "Urg Benri", which gets data from a sensor and display them. If you want to know how to connect your PC and a sensor, see tutorial.

Launch App

You can download the app, "Urg Benri Plus" from this website.

https://www.hokuyo-aut.jp/search/single.php?serial=233#download

Download the app, then install it.

"Urg Benri" is an application, which get several data (include range data) from a range sensor and display them.

Launch Urg Benri ,and app window will be shown.

You need to set sensor's IP address and port number .
Click "Ethernet 1" tab on right side of the window. Then, "Data source" boxes appears. In the left box , fill out sensor's IP address, port number in the right box.

Push the connecting button, then ,the app starts connecting.

If connection to the sensor successes, range data appears.

What Range Data Meaning

For example, I started scanning in this setting.

This is the window at this time.

Now, you can see shape of walls and existence of the object.
Also, if you put mouse cursor on the graph, the position of detected objects is shown.

Range data correspond to the top view. Compare the graph and this picture.
Same shapes and position can be seen in both images.

Range Data, its Constitution

Open the app window, and zoom in the range data. then you can see many lines plotted.

Zoom in

Zoom in again

Each lines and its edge points indicate distance data.
You can get to know through these line, in which direction, and how long there is from sensor to object.

Range sensor measure distances, changing directions horizontally step by step, right to left.

Intensity Data

In addition to distance data, you can see Intensity Data by Urg Benri.

Click "Intensity" button , then the app displays intensity data.

Intensity is plotted on the same graph , under the distance data.

Intensity's amounts are displayed by length in each steps of direction .

However, its amount is not a distance but how much light the object reflects.

I introduce an example to explain this.

I measured intensity data in two pattern of settings.

pattern 1

pattern 2

Let's check intensity data of each pattern.

pattern 1

pattern 2

When the sensor scans black curtain in pattern 1 , the sensor receives reflected light less, so intensity data in the sensor's front area are sinking.
In the pattern 2 setting , because white papers are highly reflective, the sensor receives much light from front side. So, intensity data of the sensor's front area is popping out.