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Livox LIVOX LIDAR AVIA, User Manual, Page: 3 / 24

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Summary of Contents for LIVOX LIDAR AVIA

Page 1: ...v1 0 2020 10 User Manual LIVOX AVIA ...

Page 2: ...ivox Viewer www livoxtech com avia Downloading Livox SDK Visit the link below to download the Livox SDK https github com Livox SDK Searching for Keywords Search for keywords such as FOV and mount to find a topic If you are using Adobe Acrobat Reader to read this document press Ctrl F on Windows or Command F on Mac to begin a search Navigating to a Topic View a complete list of topics in the table ...

Page 3: ...ort 10 Mounting the Livox Avia 10 Effective Field of View FOV Range 10 Mounting Notice 11 Dimensions 11 Getting Started 13 External Power Supply 13 Connection 13 Usage 16 Coordinates 16 Output Data 16 Working States Working Modes 18 Multiple Return Mode 19 IMU 19 Livox Viewer 19 Software Development Kit SDK 20 Storage Transportation and Maintenance 20 Storage 20 Transportation 20 Maintenance 20 Tr...

Page 4: ... Mac OS and ROS The Avia has a detection range of up to 320 m which can be reached when the target object reflects 80 or more of light For reference grey concrete walls and roads have a reflectivity range from 15 to 30 while white plaster walls have a reflectivity range from 90 to 99 in an environment with a temperature of 25 C 77 F and a solar illuminance of 100 klx Before using for the first tim...

Page 5: ...1 s and the horizontal FOV is consistent with that of the non repetitive scanning pattern which is 70 4 The minimum vertical FOV is 4 5 the maximum is 6 8 and the vertical angular resolution is slightly better than traditional 32 line LiDAR sensors 40 30 20 10 0 10 20 30 40 Azimuth deg 50 60 70 80 90 100 110 120 130 Zenith deg Figure 1 2 2 The FOV coverage of the Avia compared with non Livox LiDAR...

Page 6: ...0 reflectivity 450 m 80 reflectivity FOV Non repetitive scanning pattern 70 4 horizontal 77 2 vertical Repetitive scanning pattern 70 4 horizontal 4 5 vertical 1σ 20 m 2 cm Distance Random Error 1σ 20 m 2 cm Angular Random Error 1σ 0 05 º Beam Divergence 0 28 Vertical 0 03 Horizontal Point Rate 240 000 points s first or strongest return 480 000 points s dual return 720 000 points s triple return L...

Page 7: ...pply When the Avia is connected to the Livox Convertor 2 0 users can use a power supply of 9 to 30 V The connector type is MOLEX 1053313 1102 The mating connector is MOLEX 105307 1202 3 Mounting Hole Make sure to use the correct screws when mounting 4 Locating Hole The locating hole makes it easy for users to find the correct location to mount a fixed support for the Avia Refer to the Dimensions s...

Page 8: ... includes a conversion cable To connect the Livox Avia to the Livox Converter 2 0 users can use this cable or a cable of their own 12 11 10 9 8 7 4 3 2 1 5 6 10 6 7 8 9 1 2 3 4 5 11 12 LiDAR Connector M12 Aviation Connector Female Below is more information on the Livox Avia M12 aviation connector and the conversion cable Table 2 1 1 Conversion Cable description LiDAR Connector Pin M12 Aviation Con...

Page 9: ...he Livox Converter 2 0 and connect B to an external DC power supply The connector type of this power cable is MOLEX 105307 1202 Figure 2 2 1 Power cable 2 1 A B 500 25 mm Pin Signal Type Description Color 1 Power Power DC 10 15 V max 30 V Red 2 Ground Power Ground Black Table 2 2 1 Power cable description Sync Cable Connect A into the sync port of the Livox Converter 2 0 and connect B to the sync ...

Page 10: ...d by any objects Go to www livoxtech com avia to download the 3D models of the Avia and its FOV Table 2 2 2 Sync cable description 32 40 70 40 77 20 Vertical Horizontal Unit mm Figure 3 1 1 Effective FOV of the Avia Figure 3 1 2 Effective FOV of the Avia Note that the effective detection range of the Avia varies based on where the object is within the FOV The closer to the edge of the FOV the shor...

Page 11: ...hen mounting 5 The Avia cannot bear any extra payload Otherwise the reliability of the product cannot be guaranteed Dimensions Refer to the dimensions and the mounting holes in the diagrams below to mount or embed the Avia to or in an appropriate place on the target base using M3 screws Since the top and bottom sides as well as the left and right sides of the Avia are symmetric to the optical axis...

Page 12: ... 2 0 Refer to the dimensions below to mount the Livox Converter 2 0 correctly 74 00 52 00 22 90 37 00 66 00 4 M2 2 5 单位 mm Figure 3 3 2 Livox Converter 2 0 Dimensions refer to Appendix 2 Weight Approx 88 g Dimensions 74 52 23 mm Table 3 3 1 Livox Converter 2 0 Weight Dimensions ...

Page 13: ...ell as control signal and data transmission Refer to the Cables section for more information about the connector The Livox Converter 2 0 integrates a LiDAR port a sync port a power port and an Ethernet port For temporary use or to ensure optimal performance it is recommended to use a Livox Converter 2 0 and a conversion cable The Avia uses an Ethernet cable for data transmission and supports user ...

Page 14: ...ter using Ethernet cables Make sure both the Livox Converter 2 0 and the computer are connected to the LAN port on the router c Connect the Livox Converter 2 0 to an external power source If multiple Avia LiDAR sensors are set to static IP addresses make sure all the Avia LiDAR sensors have different IP addresses and use a switchboard to connect them to the computer Launch Livox Viewer after the A...

Page 15: ...r 2 0 router computer and external power supply by following Figure 4 2 2 Figure 4 2 2 Connecting using dynamic IP address a Connect the Avia to the 1 5m aviation connector and converter connector cable Next connect the 1 5m cable to the Livox Converter 2 0 b Connect the computer and the Livox Converter 2 0 using an Ethernet cable c Connect the Livox Converter 2 0 to an external power source If mo...

Page 16: ...e LiDAR sensor Each point contains the following information Target reflectivity 0 to 255 0 to 150 corresponds to the reflectivity within the range of 0 to 100 in the Lambertian reflection model 151 to 255 corresponds to the reflectivity of target objects with retroflection properties Coordinates can be expressed as Cartesian coordinates x y z and Spherical coordinates r θ φ The relationship betwe...

Page 17: ...ples have a high possibility of being noise such as dust 10 represents a moderate intensity return indicating that the samples have a moderate possibility of being noise such as rain and fog The lower the confidence level of the sample is the lower the possibility that it is noise Group 4 indicates if the sampling point is noise based on its spatial position Normally when the Avia LiDAR sensors de...

Page 18: ...atus Indicates if there is any temperature abnormality Temperature status includes normal warning and error Voltage status Indicates if there is any internal voltage abnormality Voltage status includes normal warning and error Motor status Indicates if there is any internal motor abnormality Motor status includes normal warning and error Dust warning Indicates if a significant amount of dust is de...

Page 19: ...a is connected Click the desired device under Device Manager Click to select the return mode IMU Avia has a built in IMU providing the altitude data of the Avia The push frequency of the IMU can be set using Livox Viewer or the Livox SDK The method to set the IMU push frequency is the same as setting the return mode of the LiDAR sensor Livox Viewer Livox Viewer is a computer software designed for ...

Page 20: ... or taking it out of storage If a Avia LiDAR sensor is not to be used for more than three months regularly check the sensors and connectors for abnormalities Transportation Before transportation place Avia LiDAR sensors in a suitable box for transportation and make sure it is secure Make sure to place foam inside the transportation box and that the box is clean and dry DO NOT drop Avia LiDAR senso...

Page 21: ...ke sure the LAN is selected Make sure no security software is installed that would block Ethernet broadcasts If the issue persists turn off all firewalls and search again Confirm the packet outputs for all connected devices using another application such as Wireshark Cannot connect to the detected LiDAR sensor Cannot start sampling Make sure that all cables are correctly wired Make sure the voltag...

Page 22: ...0 46 00 31 90 13 50 91 00 20 00 34 00 6 00 79 00 46 00 16 M3 32 40 4 65 00 20 00 46 00 20 00 34 00 2 00 4 00 0 05 0 1 4 4 00 0 05 0 1 4 32 40 64 80 61 20 75 55 20 00 65 00 46 00 31 90 13 50 91 00 20 00 34 00 6 00 79 00 46 00 16 M3 32 40 4 65 00 20 00 46 00 20 00 34 00 2 00 4 00 0 05 0 1 4 4 00 0 05 0 1 4 Top View Bottom View Side View 74 00 52 00 22 90 37 00 66 00 4 M2 2 5 ...

Page 23: ...first or strongest return 480 000 points s dual return 720 000 points s triple return Data Latency 2 ms Data Port 100Mbps Ethernet Data Synchronization IEEE 1588 2008 PTP v2 PPS Pulse Per Second GPS PPS UTC False Alarm Ratio 100 klx 0 0003 IP Rating IP67 IMU Built in IMU model BMI088 Operating Temperature Range 20 to 65 C 4 to 149 F Storage Temperature Range 40 to 85 C 40 to 185 F IP Rating IP67 P...

Page 24: ...ll Rights Reserved Livox is trademarks of Livox Technology Company Limited Windows is a registered trademark of Microsoft Corporation in United States and other countries Ubuntu is a registered trademark of Canonical Ltd ...

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