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User Manual

2022.07

v1.0

LIVOX HAP

HAP (TX)

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Содержание HAP

Страница 1: ...User Manual 2022 07 v1 0 LIVOX HAP HAP TX ...

Страница 2: ...iewer 2 https www livoxtech com downloads 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 battery and install 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 ...

Страница 3: ... Aviation Connector 1 to 3 Splitter Cable 8 Mounting the HAP TX 9 Effective FOV Range 9 Mounting Notice 10 Dimensions 10 Getting Started 11 External Power Supply 11 Connection 12 Usage 14 Coordinates 14 Output Data 14 Livox Viewer 2 17 Software Development Kit SDK 18 Storage Transportation and Maintenance 18 Storage 18 Transportation 18 Maintenance 19 Troubleshooting 20 After Sales Information 20 ...

Страница 4: ...ental Adaptation Even under 100 kilolux conditions the HAP TX boasts a low noise rate below 0 01 The HAP TX can effectively reduce interference from other LiDAR sensors thanks to the innovative de noising algorithms built into the unit User Friendly Livox Viewer 2 Livox Viewer 2 is software specially designed for Livox LiDAR sensors It displays and records real time point cloud data replays point ...

Страница 5: ...ion time Figure 1 2 3 displays the FOV coverage of the HAP TX over different integration time compared with other non Livox LiDAR sensors that use common mechanical scanning methods The diagram shows that when the integration time is less than 0 1 second the FOV coverage of the HAP TX is close to 80 better than a 64 line LiDAR sensor As the integration time increases to 0 5 seconds the FOV coverag...

Страница 6: ...sed at the time check the SDK for more information about the warning The point cloud may distort to a varying extent when the target object is within the range of 0 5 to 2 m The HAP TX has a detection accuracy of 2 cm when tested at a temperature of 25 C 77 F with a target object that is 20 m away and has a reflectivity of 80 The actual environment may differ from the testing environment The figur...

Страница 7: ...5 4 Users can mount the HAP TX to an appropriate place using M6 screws 4 M12 Aviation Connector The M12 aviation connector can be connected to the Livox Aviation Connector 1 to 3 Splitter Cable sold separately for quick testing and debugging Users can also customize cables according to the pinout reference table to improve the waterproof and dustproof protection of the HAP TX Refer to the Connecto...

Страница 8: ...litter Cable Users can connect the HAP TX with the Livox Aviation Connector 1 to 3 Splitter Cable sold separately The Livox Aviation Connector 1 to 3 Splitter Cable has an M12 aviation connector female on one end and the other end is split into the power network and function cables The M12 aviation connector female connects to the M12 aviation connector male on the HAP TX The power cable connects ...

Страница 9: ...or Pin Signal Type Description Color Function 1 Power Power DC VCC Red positive Power cable Connects to DC power 9 Power Power DC VCC 2 Ground Power Ground Black negative 3 Ground Power Ground 4 Ethernet TX Output Ethernet TX Orange white Ethernet cable Connects to computer or router 5 Ethernet TX Output Ethernet TX Orange 6 Ethernet RX Input Ethernet RX Green white 7 Ethernet RX Input Ethernet RX...

Страница 10: ...load Otherwise the reliability of the product cannot be guaranteed Dimensions The bottom surface of the HAP TX has four M3 mounting holes with a depth of 5 mm and four M6 mounting through holes φ6 5 Refer to the below illustrations for HAP TX dimensions and locations for the mounting holes and mount the HAP TX in an appropriate place 0 15 15 30 45 60 60 200 175 150 125 100 75 50 45 30 0 5 5 10 200...

Страница 11: ...en an extension cable is required make sure to increase the output voltage of the external power source due to the extra voltage reduction Make sure the maximum voltage does not exceed 18 V Note that the power cable may generate voltage fluctuation where the voltage exceeds 18 V in some scenarios such as if the power cable is interfered with or other devices connected to another power source in th...

Страница 12: ...he HAP TX to a computer 1 Before connecting set the IP address of the computer to static IP address mode Set the IP address of the computer to the same network subnet as the IP address of HAP TX Follow the steps to set the IP address of your computer to static IP address Windows system a Click to enter the Network and Sharing Center under Control Panel b Click the network you are using and click P...

Страница 13: ...n the Livox Aviation Connector 1 to 3 Splitter Cable to the computer c Connect the power cable on the Livox Aviation Connector 1 to 3 Splitter Cable to the external power source Pay attention to the input voltage range and polarity The function cable does not need to be used as it has no electrical current when using with the HAP TX When multiple HAP TX LiDAR sensors are connected to one computer ...

Страница 14: ... center of the optical window surface and its coordinates directions are the same with that of the Positioning Coordinates The position and pose relation of the point cloud coordinate system relative to the positioning coordinate system is X Y Z Roll Pitch Yaw 8mm 0 mm 23 mm 0 0 0 For the HAP TX with built in IMU the angular velocity direction follows the right hand rule Output Data The output inf...

Страница 15: ...4 are Group 2 bit3 and bit2 are Group 3 while bit1 and bit0 are Group 4 Group 2 indicates the return sequence of the sampling point Featuring a coaxial optical path the HAP TX LiDAR sensor will generate a laser return even if there is no detectable object around The return is recorded as return 0 After that if there is any object within the detectable range the first laser that returns to the HAP ...

Страница 16: ... acceleration in X Y and Z directions the angular velocity around X Y and Z axes and the timestamp when the data is generated The HAP TX pushes IMU data at a frequency of 200 Hz Timestamp The HAP TX only supports the Generic Precision Time Protocol gPTP based on IEEE 802 1AS standard where the domain controller works as the master and the HAP TX as the slave Requester PathDelayReq PathDelayResq t2...

Страница 17: ...omatically push log data once anything abnormal happens Users need to save these log data and provide them to Livox Support for analysis Contact Livox Support for detailed definitions of the messages indicating abnormal situations Livox Viewer 2 Livox Viewer 2 is software specially designed for Livox LiDAR sensors It displays and records real time point cloud data replays point cloud videos and an...

Страница 18: ...temperature range for the HAP TX LiDAR is from 40 to 95 C 40 to 203 F Keep HAP TX LiDAR sensors in a dry and dust free environment Make sure the HAP TX LiDAR is not exposed to environments containing poisonous or corrosive gases or materials DO NOT drop the HAP TX LiDAR and be careful when placing in or taking out of storage If a HAP TX LiDAR sensor is not to be used for more than three months reg...

Страница 19: ...ge Clean the optical window with compressed or canned air before wiping the optical window Note that if the optical window has no visible stains afterward it is unnecessary to wipe it 2 Wipe the stains DO NOT wipe using a dry lens tissue as it will scratch the surface of the optical window Use a lens tissue and dampen with isopropyl alcohol If the optical window is still dirty a mild soap solution...

Страница 20: ...rity software is installed that would block Ethernet broadcasts If the issue persists turn off all firewalls restart the Livox Viewer 2 and try again Confirm the UDP packets of all connected devices using another application e g Wireshark Cannot connect to the detected LiDAR sensor Cannot start sampling Make sure that all cables are correctly wired Make sure the voltage is suitable The working vol...

Страница 21: ...ser Manual 2022 Livox Tech All Rights Reserved 21 Appendix HAP TX Dimensions 91 6 94 6 48 5 121 6 54 131 6 105 65 2 92 65 0 65 62 47 4 M3 5 4 3 1 0 05 _ 6 5 0 1 _ 3 1 0 05 _ Unit mm Side View Top View Bottom View ...

Страница 22: ... a maximum amount of 40 W Make sure the power supply is suitable based on the peak power value of HAP TX Make sure the output voltage of the power supply is within this range at all times Model HAP TX Laser Wavelength 905 nm Laser Safety Class 1 IEC 60825 1 2014 safe for eyes Detection Range 100 klx 150 m 10 reflectivity FOV 120 horizonal 25 vertical Distance Random Error 1σ 2 cm 20 m 80 reflectiv...

Страница 23: ...r manual https www livoxtech com hap downloads Livox and Livox HAP are 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 https www livoxtech com support WE ARE HERE FOR YOU Contact DJI SUPPORT ...

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