LeiShen Intelligent System LiDAR C128 Series Скачать руководство пользователя страница 49

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LeiShen Intelligent System CO., LTD.

output

User Configuration

Write Protocol

UCWP

User

configuration

device

parameters

input

UDP

1248byte

INF



Note: The following sections describe and define the payload (1248byte) of the protocol.

1. Main data Stream Output Protocol

(MSOP)

Main data Stream Output Protocol: MSOP for short.

I/O type: device output, computer analysis.

The data organization of the main data stream is in a Small Endian mode compatible with

the Velodyne data format.

The MSOP completes the data output related to the 3D field measurement. The information consists of the laser echo intensity value, the

Содержание LiDAR C128 Series

Страница 1: ...Operation instruction of 128 line solid state hybrid LiDAR v1 0 www leishen lidar com...

Страница 2: ...ze 10 2 Interface description 10 2 1 Electrical interface 10 2 1 1 Device power supply 11 2 1 2 Definition of device wiring output interface 11 2 2Mechanical interface 14 3 Software instructions under...

Страница 3: ...tocol MSOP 49 1 1 Data structure of the data packet 50 1 2 Header 51 1 3 Subframe 52 1 3 1 Angle value definition 56 5 1 4 Tail 60 5 2 Device Information Output Protocol DIFOP 61 5 3 User Configuratio...

Страница 4: ...tem CO LTD 4 5 3 8 Compatible with Velodyne mode 74 5 3 9 Longitude and latitude 76 5 3 10 Example 77 5 4 External time synchronization 79 5 4 1 GPS timing synchronization 80 5 4 2 Synchronization of...

Страница 5: ...er sales technical staff of LeiShen Intelligent System before related operations 1 2 Operating principles Ranging principle of 128 series multi line solid state hybrid LiDAR Time of Flight Time of fli...

Страница 6: ...LeiShen Intelligent System CO LTD LeiShen Intelligent System CO LTD 6...

Страница 7: ...ystem CO LTD 7 Specification parameters of LeiShen Intelligent System 128 line LiDAR Model C128 xxxA Ranging method Pulse Laser waveband 905nm Laser class Class 1 eye safe Laser channel 128 route Meas...

Страница 8: ...s second 1 660 000 points second Viewing Angle Vertical 17 14 Horizontal 150 Angular resolution Vertical Uniform 0 25 Horizontal 5Hz 0 09 10Hz 0 18 20Hz 0 36 30Hz 0 54 Scanning speed 5Hz 10Hz 20Hz 30H...

Страница 9: ...ntelligent System CO LTD 9 Storage temperature 40 105 Light condition Operate in strong sunlight or in the dark Temperature Non condensing Impact 500 m sec for 11ms Vibration 5Hz 2 000Hz 3G rms IP gra...

Страница 10: ...Intelligent System CO LTD LeiShen Intelligent System CO LTD 10 1 3 Structure and size Figure 3 Schematic diagram of the structure and size of 128 line LiDAR 2 Interface description 2 1 Electrical int...

Страница 11: ...ge of the device 9VDC 36VDC Recommended input voltage is 12VDC 2 1 2 Definition of device wiring output interface 12 core and 8 core shielded cables are led from the bottom side of the C128 sequential...

Страница 12: ...telligent System CO LTD 12 Figure 5 Schematic diagram of 12 core cables of the radar 128 line LiDAR adapter box external interfaces include DC socket with 2 1mm aperture indicator light kilomega netwo...

Страница 13: ...LeiShen Intelligent System CO LTD LeiShen Intelligent System CO LTD 13 Figure 6 Schematic diagram of adapter box of 128 line LiDAR...

Страница 14: ...ent System CO LTD 14 2 2 Mechanical interface The device is fitted with 4 mounting holes for positioning The data line interface is at horizontal 180 degrees as specified The radar rotates clockwise F...

Страница 15: ...plicable to LeiShen Intelligent System 128 line LiDAR Software installation 1 Installation environment The software is currently only available under the Windows operating system Configuration of the...

Страница 16: ...gent System CO LTD 16 2 Insert the software installation disk into the CD ROM drive open the disk folder double click installation file and the installation interface window will pop up 3 Click next t...

Страница 17: ...CO LTD LeiShen Intelligent System CO LTD 17 4 After completing the custom installation path Chinese path is not recommended click next to enter the installation interface click the install button and...

Страница 18: ...t System CO LTD 18 Introduction and use of related functions Operation of LeiShen Intelligent System multi line LiDAR display system Double click the shortcut icon on the desktop The initial Interface...

Страница 19: ...LeiShen Intelligent System CO LTD LeiShen Intelligent System CO LTD 19 1 Menu bar Data area 3D view Menu bar Functional area...

Страница 20: ...sion UserGuide contains instructions for use and Develpo contains developer documentation 2 Functional area Lidar page Real time radar data reception Set IP of the PC segment 192 168 1 102 Set port nu...

Страница 21: ...button to display the measurement grid 20 circles and 40 40 grids with adjacent two circles having a radius difference of 10m each of the two grids horizontal or longitudinal differs by 10m and the o...

Страница 22: ...area Pull down the button to change the view direction LSC32 page Click on the icon to set the radar parameters Radar IP and computer IP need to be in the same field with the same port number Radar sp...

Страница 23: ...gitude and latitude view data when connecting to the GPS Click the status information refresh to get the previous configuration information of the radar After filling in the setting information click...

Страница 24: ...gent System CO LTD LeiShen Intelligent System CO LTD 24 Radar IP port Computer IP port Radar speed Local time Mac address Packet interval Motor state Port number Longitude and latitude Motor speed GPS...

Страница 25: ...ttings interface Radar related parameters have been tested and it is not recommended to modify related parameters Refresh the radar status first then set the parameters segment factor range selection...

Страница 26: ...LeiShen Intelligent System CO LTD LeiShen Intelligent System CO LTD 26 settings which will take effect immediately Click the button to control display of the radar related channel...

Страница 27: ...hannel indicates the data arrangement number corresponding to the channel and the Laser ID indicates the channel number of the radar Click the button to save the radar data in CSV format X Y Z Intensi...

Страница 28: ...telligent System CO LTD 28 Click the button to control fast forward play Click the button to control fast backward play Click the button to jump to the last frame Click the button to jump to the first...

Страница 29: ...click again to complete save The progress bar in the toolbar shows the progress of playing the file and the data in the input box is the number of frames currently playing 3 Data sheet area Data shee...

Страница 30: ...LeiShen Intelligent System CO LTD LeiShen Intelligent System CO LTD 30...

Страница 31: ...iewing angle of the display interface Press and hold the mouse wheel and drag to move the display interface horizontally or press and hold the shift key on the keyboard and the left mouse button for h...

Страница 32: ...eds to close the software process occupying the port and re open the LeiShen 16 32 line Lidar display software 2 Since LeiShen 16 32 line Lidar can modify the port number through user configuration an...

Страница 33: ...Intelligent System CO LTD LeiShen Intelligent System CO LTD 33 Click Properties in the pop up status box and click the TCP IP4 protocol version in the pop up properties box as shown in the following...

Страница 34: ...telligent System CO LTD 34 In the TCP IP4 property setting set the ip address to the destination IP of the radar the default IP and port of the radar are specified in the radar communication protocol...

Страница 35: ...system program needs to obtain a large number of data packets through the network in a short time it may be prohibited by the network firewall as a malicious program In some cases after packet captur...

Страница 36: ...hen Intelligent System CO LTD LeiShen Intelligent System CO LTD 36 In Control Panel System and Security Windows Firewall Settings click Allow programs to successfully pass Windows firewall as shown be...

Страница 37: ...LeiShen Intelligent System CO LTD LeiShen Intelligent System CO LTD 37...

Страница 38: ...eiShen Intelligent System CO LTD LeiShen Intelligent System CO LTD 38 Browse and find the software installation path select it and click OK to set the program network application As shown in the figur...

Страница 39: ...graphics cards the default global setting of the computer operating system automatic selection integrated graphics may affect the display efficiency of the software To ensure the use and display effic...

Страница 40: ...plicable graphics card to a high performance discrete graphics card The setup steps are as follows 1 Take a laptop with an integrated graphics card Intel R HD Graphics 530 and a discrete graphics card...

Страница 41: ...LeiShen Intelligent System CO LTD LeiShen Intelligent System CO LTD 41 2 Select the Manage 3D Settings button in the NVDIA Control Panel program interface that pops up as shown below...

Страница 42: ...ent System CO LTD LeiShen Intelligent System CO LTD 42 3 Select the Program Setting button in the Manage 3D Settings interface as shown below 4 Click the Add button in the Manage 3D Settings interface...

Страница 43: ...LeiShen Intelligent System CO LTD LeiShen Intelligent System CO LTD 43 5 Click the Browse button in the Add interface that pops up as shown below...

Страница 44: ...pop up browse interface 7 Click OK to return to the NVDIA Control Panel automatically Select the High Performance NVDIA Processor in the drop down box of Option 2 Select the Preferred Graphics Process...

Страница 45: ...nd UDP protocol All the protocol packets related to UDP herein are in fixed length of 1248byte of which 1206byte is the payload and the remaining 42byte is the UDP packet overhead The radar network pa...

Страница 46: ...ice MAC address can be changed Change of the MAC address does not lead to change of the device serial number When using a connected device users need to set the IP address of the computer to the same...

Страница 47: ...LeiShen Intelligent System CO LTD LeiShen Intelligent System CO LTD 47 Figure 1 ARP packets captured by Wireshark...

Страница 48: ...o a package and outputs to the computer Device Information Output Protocol which monitors various configuration information of the device in current status With User Configuration Write Protocol users...

Страница 49: ...efine the payload 1248byte of the protocol 1 Main data Stream Output Protocol MSOP Main data Stream Output Protocol MSOP for short I O type device output computer analysis The data organization of the...

Страница 50: ...e and a frame tail Each packet has a total of 1248bytes 42byte UDP packet overhead 1200byte subframe data packet interval 12 data blocks in total and 4bytes of Timestamp 2byte frame tail Factory 1 1 D...

Страница 51: ...ystem CO LTD LeiShen Intelligent System CO LTD 51 Figure 9 Data structure of 128 line data packet 1 2 Header The Header has a total of 42 bytes as the UDP packet overhead used to identify the starting...

Страница 52: ...e relation diagram of different vertical directions on the left and right sides represented by different flag bits A data packet contains one or two flag bits 2byte Azimuth represents horizontal angle...

Страница 53: ...LeiShen Intelligent System CO LTD LeiShen Intelligent System CO LTD 53...

Страница 54: ...LeiShen Intelligent System CO LTD LeiShen Intelligent System CO LTD 54...

Страница 55: ...LeiShen Intelligent System CO LTD LeiShen Intelligent System CO LTD 55...

Страница 56: ...LeiShen Intelligent System CO LTD LeiShen Intelligent System CO LTD 56 Figure 10 Distribution of 128 line optical channels 1 3 1 Angle value definition...

Страница 57: ...bution in the horizontal direction is shown in the Figure 9 The data block interval of each group of the 128 line lidar has only one angle value which is obtained by the photoelectric encoder based on...

Страница 58: ...LeiShen Intelligent System CO LTD LeiShen Intelligent System CO LTD 58 Figure 11 Positive direction coordinate graph of radar...

Страница 59: ...ay be obtained through interpolation Since the angle of the rotation of the radar is uniform and the time interval of each two sets of data blocks is the same interpolation of the adjacent two angle v...

Страница 60: ...rials For example analytic calculating method for channel data of the data packet is get the hexadecimal number of the distance value in the packet 0x72 0x06 The data is composed of 16 bits and is 16...

Страница 61: ...orresponding meaning of byte content Filed 4DEh Filed 4DEh Value Meaning Value Meaning 37h Strongest Return 20h C16 39h Dual Return 5 2 Device Information Output Protocol DIFOP Device Info Output Prot...

Страница 62: ...tly used device Data in the device information stream is in a Big Endian mode The data format structure of a complete DIFOP Packet includes a sync header a subframe and a frame tail Each packet has a...

Страница 63: ...elligent System CO LTD 63 4 Radar rotation stop 46 2 5 Compatible with Velodyne 48 2 6 Device stream packet interval 50 2 7 Reserved 52 8 8 S N 60 6 9 Firmware version 66 4 10 Reserved 70 34 11 Longit...

Страница 64: ...o 3 9 Definition 5 3 User Configuration Write Protocol UCWP User Configuration Write Protocol UCWP for short I O type host writes UCWP to device Function realization users can reconfigure the device s...

Страница 65: ...t refer to the following table Table 8 UCWP Packet data format and structure Segment S N Information Offset Length byte Header 0 UCWP identification header 0 8 Data 1 Motor speed 8 2 2 Ethernet 10 26...

Страница 66: ...A 0x00 0xFF 0x11 0x22 0x22 0xAA 0xAA where the first 4 bytes can be used as the check sequence of the packet namely 0xAA 0x00 0xFF 0x11 Tail content is 0x0F 0xF0 5 3 1 Ethernet Table 10 Definition of...

Страница 67: ...s occupying 4 bytes 2 IP_DEST is the destination IP address occupying 4 bytes 3 MAC_ADDR is the MAC address 4 port1 port6 are port number information port1 is the UDP local port number and port2 is th...

Страница 68: ...e28 Byte29 Byte30 Function year month day hour min sec ms us Description of register 1 year reg name set_year S N bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 Function set_year 7 0 Number 0 255 indicating...

Страница 69: ..._day S N bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 Function Reserved Reserved Reserved set_day 4 0 1 31 day 4 hour reg name set_hour S N bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 Function Reserved Reserve...

Страница 70: ...t_ sec S N bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 Function Reserved Reserved set_sec 5 0 0 59 sec 7 ms reg name set_ ms S N Bit15 Bit14 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8 Function Reserved Reserved Re...

Страница 71: ...8 Function Reserved Reserved Reserved Reserved Reserved Reserved us 9 8 S N bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 Function set_us 7 0 Note Range of set_us 9 0 0 999 5 3 4 Serial number Table 12 Defi...

Страница 72: ...C8 C16 C32 C48 C64 C128 Operating distance m Operating distance No 0x00 0x01 0x02 0x03 Operating distance 701 121 151 201 Number Range of four bytes number 0x00000000 0xFFFFFFFF For example analytic c...

Страница 73: ...te1 Byte2 Byte3 Byte4 Function V 1 0 0 For example V 1 0 0 5 3 6 Radar rotation stop Table 14 Definition of radar rotation stop byte Radar rotation stop byte 2 bytes in total S N Byte1 Byte2 Function...

Страница 74: ...Set interval Calculate hexadecimal number from the value obtained from packet 0x00 and 0xA6 The data is composed of 16 bits and is 16 bit unsigned integer data represented as 0x00A6 The segment value...

Страница 75: ...es it is compatible with Velodyne mode When the radar is powered off and then powered back on there is no information output protocol on the device Use Velodyne upper computer software to display poin...

Страница 76: ...yte2 Byte3 Byte4 Byte5 Byte6 Byte7 Byte8 Function Latitude byte 1 is abandoned byte byte2 byte10 indicate latitude value S N Byte9 Byte10 Byte11 Byte12 Byte13 Byte14 Byte15 Byte16 Function Longitude b...

Страница 77: ...patible with Velodyne and reset the value according to the table below based on UCWP Packet and the definition of each register Table 18 Configuration example Information Change Content Configuration...

Страница 78: ...000 2 Compatible with Velodyne Compatible mode 0xABCD 2 Device stream packet interval 166 0x00A6 2 Rest Reserved 0x00 1152 Tail 0x0F 0xF0 2 When configuring the device using this protocol byte level o...

Страница 79: ...see 4 2 for details 3 When the radar starts without GPS signal and no external synchronization signal is connected it runs on its own internal clock counting in microseconds and the count value is ass...

Страница 80: ...ial data interface output from GPS receiver should be connected to the REC terminal of GPS wiring port on radar adapter box The PPS output from GPS should be connected to the PPS terminal of GPS wirin...

Страница 81: ...received by radar and output three times per second ensuring that the external device can receive the device information stream Users only need to receive it once for accurate time reference The timi...

Страница 82: ...ording to the formula above TimeOffset n calculated with table 19 or Texact time of n pulse Texact time of 192nd pulse n 1 3 125 us 596 875us n is any number between 1 192 Since the continuous emissio...

Страница 83: ...LeiShen Intelligent System CO LTD LeiShen Intelligent System CO LTD 83 Table 19 The offset of the corresponding time of main data laser point position by one frame data packet Unit us...

Страница 84: ...stamp byte Timestamp is output with the main stream The external synchronization signal hardware connection still uses the GPS external port on the adapter box and the external synchronization signal...

Страница 85: ...s It is known that the last laser spot of the radar one frame data packet the 192nd laser pulse is marked in red in Table 19 corresponds to the time stamp and the exact time of other laser points can...

Страница 86: ...ansmitted by the data point of data packet the exact time of the last laser pulse 192nd is Texact time of 192nd pulse Tpacket timestamp It is known that the last laser spot of the radar one frame data...

Страница 87: ...lligent System LiDAR LeiShen brings a smarter safer and better experience LeiShen Intelligent System CO LTD LeiShen Intelligent System CO LTD Headquarters address 4F Yunhua Shidai Building Haoxiang Ro...

Страница 88: ...3F Building 1 No 18 Guigu Fifth Road Luoxing Jiedao Jiashan County Zhejiang Contact number 86 0573 88482301 Tianjin office 1601 Building C Haojing Guoji No 582 Hongqi South Road Nankai District Tianji...

Страница 89: ...way without prior written permission from LeiShen The company has made every effort to ensure the accuracy and completeness of the information contained in the manual as of the printing If you find a...

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