Yujin Robot YRL3V2 Series User Manual Download Page 11

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3.2 Scanning Range (4 Scanning Modes)

YRL3V2 supports 4 scanning modes optimized for autonomous mobile robots (AMRs). Please refer to the

horizontal and vertical scanning ranges in each mode.

Mode � (General: Default)

Mode � (Upward)

Mode � (Downward)

Mode � (Narrow)

+��°

-��°

Center �°

+��°

-�°

Center �°

Upper

Vertical

��°

Vertical

��°

Lower

Vertical

��°

Upper

Vertical

��°

Lower

Vertical

��°

+�°

-��°

Center �°

+��°

-��°

Center �°

Upper

Horizontal

��°

Horizontal

��°

Horizontal

��°

Lower

Horizontal

��°

Upper

Horizontal

��°

Lower

Horizontal

��°

Vertical

��°

Mode � (General: Default)

Mode � (Upward)

Mode � (Downward)

Mode � (Narrow)

+��°

-��°

Center �°

+��°

-�°

Center �°

Upper

Vertical

��°

Vertical

��°

Lower

Vertical

��°

Upper

Vertical

��°

Lower

Vertical

��°

+�°

-��°

Center �°

+��°

-��°

Center �°

Upper

Horizontal

��°

Horizontal

��°

Horizontal

��°

Lower

Horizontal

��°

Upper

Horizontal

��°

Lower

Horizontal

��°

Vertical

��°

Mode 1

General scanning mode(Default)

•

Mapping and object detection

•

AMR, PCR, Service Robot

Mode 2

Upward scanning mode

•

Mapping and object detection

•

AMR, PCR, Service Robot

Mode � (General: Default)

Mode � (Upward)

Mode � (Downward)

Mode � (Narrow)

+��°

-��°

Center �°

+��°

-�°

Center �°

Upper

Vertical

��°

Vertical

��°

Lower

Vertical

��°

Upper

Vertical

��°

Lower

Vertical

��°

+�°

-��°

Center �°

+��°

-��°

Center �°

Upper

Horizontal

��°

Horizontal

��°

Horizontal

��°

Lower

Horizontal

��°

Upper

Horizontal

��°

Lower

Horizontal

��°

Vertical

��°

Mode � (General: Default)

Mode � (Upward)

Mode � (Downward)

Mode � (Narrow)

+��°

-��°

Center �°

+��°

-�°

Center �°

Upper

Vertical

��°

Vertical

��°

Lower

Vertical

��°

Upper

Vertical

��°

Lower

Vertical

��°

+�°

-��°

Center �°

+��°

-��°

Center �°

Upper

Horizontal

��°

Horizontal

��°

Horizontal

��°

Lower

Horizontal

��°

Upper

Horizontal

��°

Lower

Horizontal

��°

Vertical

��°

Mode 3

Downward scanning mode

•

Mapping and object detection

•

AMR, PCR, Service Robot

Mode 4

Fast scanning mode

•

Object detection, collision avoidance,

positioning

Scanning Mode

Mode 1

General scanning

mode(Default)

Mode 2

Upward scanning

mode

Mode 3

Downward

scanning mode

Mode 4

Fast scanning

mode

FoV: Horizontal x

Vertical

Upper 360° x 55°

(+40°/-15°),

Lower 270° x 25°

(-15°/-40°)

360° x 40° (+35°/-5°)

Upper 360° x 20°

(+5°/-15°),

Lower 270° x 20°

(-15°/-35°)

360° x 20° (+10°/-10°)

Summary of Contents for YRL3V2 Series

Page 1: ...YRL3V2 Series YUJIN 3D LiDAR User Guide YRL3V2 05 YRL3V2 10 YRL3V2 25 Revision 1 0 Date 2022 04...

Page 2: ...provement Copyright and Disclaimer The information in this guide is subject to change without notice during the product s life cycle The printed version of the guide is updated periodically Some detai...

Page 3: ...3 Change History Change History The following table contains version information for this document and a history of significant changes Version Date of Writing Changes V1 0 03 07 2022 First Rlease...

Page 4: ...2 4 2 Product Dimensions 12 4 3 Component Details 13 4 4 Installing the Product 14 4 4 1 Choosing the installation location 14 4 4 2 Installing the LiDAR 14 4 5 Connecting the Cables 15 4 5 1 Connecti...

Page 5: ...and Maintenance 30 6 2 Troubleshooting 30 7 Product Specifications 31 7 1 Basic Specification 31 7 2 Performance 31 7 3 Interface 32 7 4 Environmental Specifications 32 8 Appendix 33 8 1 Appendix A D...

Page 6: ...gulations The power supply must be disconnected before connecting or disconnecting the product s power connection Use the product at the specified voltage and power range Failing to do so can cause fi...

Page 7: ...or Do not use it in outdoor environments dusty places humid places or in direct sunlight Fasten the product firmly in places where there is a lot of vibration Use of controls adjustments or performanc...

Page 8: ...nce Laser Diode Output light Reflection Optical System Input light Photo Diode Avalanche Time measuring circuit Fig 1 Principle of ToF Time of Flight 2 2 Product Features Supports single channel 360 d...

Page 9: ...purchased separately by the user LiDAR Viewer a software for running LiDAR is also available With the LiDAR Viewer you can monitor the status of the LiDAR and configure basic settings To operate the...

Page 10: ...ngle Vertical angle measured 40 40 max 80 Range Distance to an object Measured based on the time taken by the light to travel back and forth to the object Intensity Reflection intensity measured Coord...

Page 11: ...canning mode Mapping and object detection AMR PCR Service Robot Mode General Default Mode Upward Mode Downward Mode Narrow Center Center Upper Vertical Vertical Lower Vertical Upper Vertical Lower Ver...

Page 12: ...of the product YRL3V2 series product 1 m power cable 1 m ethernet cable Quick start guide Note Please contact us or the store where you purchased the product for any product faults or inconveniences 4...

Page 13: ...efer to the diagram below for details Optical Bottom 11 1 10 4 5 2 3 8 6 9 7 Fig 4 YRL3V2 Component Details 1 Optical screen 7 Ethernet cable 2 Central cover 8 Power cable gland 3 Bottom cover 9 Ether...

Page 14: ...he product on an uneven surface use a bracket provided by the customer under the LiDAR Protect the sensor from sunlight 4 4 2 Installing the LiDAR The LiDAR has three bolt holes for fixing the unit on...

Page 15: ...necting the Power Cable and Ethernet Cable 1 Connect the power cable to the integrated power cable connector of the LiDAR 2 Connect the Ethernet cable to the integrated Ethernet cable connector of the...

Page 16: ...Female Pin No Signal 1 TX 2 TX 3 RX 4 RX 5 GND Ethernet RJ45 Connector IP PWR EXTENSION Connector Power Input Connector IP PWR Connector RJ45 L102 M8 T0402 01 Female L102 M8 H0401 Male Pin No Signal 1...

Page 17: ...e IP Connection button on the LiDAR viewer software to connect LiDAR to the host PC s network 2 To stop LiDAR Click the Close button at the top right of the LiDAR viewer window to quit the viewer Ente...

Page 18: ...Viewer Software displays YRL3V2 s point cloud data on the screen in real time You can use the software in Ubuntu OS How to enter commands in Ubuntu OS Run ctrl alt t on the desktop to enable the Term...

Page 19: ...gs 2 Click Network in the menu on the left Click the Settings icon in the Wired menu 3 Select IPv4 from the top menu Select Manual and enter the Address and Netmask information you re going to use Con...

Page 20: ...20 YRL3V2 Series User Guide 4 Set the ON OFF switch to OFF and set it back to ON to reset the network 5 View the newly assigned static IP address 192 168 1 37...

Page 21: ...h the Terminal window and enter the command below to install QT5 sudo apt get install qt5 default 2 Go to the provided LiDAR Viewer software location Command cd Downloads viewer_v2_x x x where LiDAR V...

Page 22: ...t LiDAR 192 168 1 250 Rear LiDAR 192 168 1 251 4 Press Connect to connect LiDAR takes approx 5 seconds Disconnect Button Disconnects LiDAR In the following cases press Connect after pressing Disconnec...

Page 23: ...dow for the selected feature 3 Viewer screen Displays the status of the feature selected in the menu tabs on the viewer screen 5 6 Firmware Update You can update the firmware by clicking Help FW Updat...

Page 24: ...e 5 6 1 Ethernet Board Firmware Update 1 Enter LiDAR IP Address and click OK 2 Click open under Ethernet Board FW Update Select the downloaded Ethernet Board Firmware file 3 Update the Ethernet Board...

Page 25: ...5 Using YUJIN LiDAR Viewer 5 6 2 Main Board Firmware Update 1 Click Open under the Main Board FW Update Select the downloaded Main Board Firmware file 2 Update the Main Board Firmware by clicking Save...

Page 26: ...IP address to use Initial value 192 168 1 250 If the connection is established normally the status value changes to Connected and you can check the serial number and firmware version information If th...

Page 27: ...stored in the LiDAR Initial RZ value 0 Default 0 00 Min 360 00 Max 360 00 Click the OK button to apply the settings Click the Cancel button to cancel the settings 4 LiDAR Mode Supports 4 scanning mod...

Page 28: ...ays the reference axis Z axis and color change Colors include red orange yellow green blue indigo and violet The smaller the Z value the closer to red The larger the Z value the closer to violet Inten...

Page 29: ...ce 2 Perspective Projection Default option Displays the 3D environment with a sense of depth Provides a more realistic view 5 9 2 Rotational View Top View Side View settings Select the location and di...

Page 30: ...er and dust from the surface of LiDAR with a soft clean cloth Be careful not to cause damage scratches or nicks to the laser cover while performing maintenance Interval Every 3 months or as needed 6 2...

Page 31: ...014 Laser Wavelength 905 nm 7 2 Performance Scanning Mode Mode 1 General scanning mode Default Mode 2 Upward scanning mode Mode 3 Downward scanning mode Mode 4 Fast scanning mode FoV Horizontal x Vert...

Page 32: ...1 2007 EN61000 6 3 2007 A1 2011 EN61000 4 2 2009 EN61000 4 3 2006 A1 2008 A2 2010 EN61000 4 4 2012 EN61000 4 6 2014 EN61000 4 8 2010 Vibration Resistance EN60068 2 6 2007 10 to 55Hz double amplitude...

Page 33: ...mMinXParam 35 X axis lower limit for processing output data Unit m 8 mMaxXParam 35 X axis upper limit for processing output data Unit m 9 mMinRangeParam 0 Data range lower limit for processing output...

Page 34: ...angle lower limit for processing output data Unit radian 20 mMaxHoriAngleParam pi Horizontal angle upper limit for processing output data Unit radian 21 mMinHoriAngleParam pi Horizontal angle lower li...

Page 35: ...ing output data 5 void SetMinYParam const float y_min m Set the Y axis lower limit for processing output data float GetMinYParam m Get the Y axis lower limit for processing output data 6 void SetMaxYP...

Page 36: ...m const float verti_angle_min radian Set the vertical angle lower limit for processing output data float GetMinVertiAngleParam radian Get the vertical angle lower limit for processing output data 14 v...

Page 37: ...OutputsWithIntensity double _SystemTime std vector float _IntensityArray std vector float _RangeArray std vector float _HorizontalAngleArray std vector float _VerticalAngleArray Get the reflection int...

Page 38: ...Error Message Solution LiDAR reset failed LiDAR reset failed Save again Perform the Firmware Update Procedure below Failed to read the firmware file Cannot open the file Download the firmware file to...

Page 39: ...Yujin Robot Co Ltd Harmony ro 187 beon gil 33 Yeonsu gu Incheon Songdo dong Phone 82 32 550 2300 Fax 82 32 550 2301 www yujinrobot com...

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