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LeiShen Intelligent System LiDAR C128 Series Operation Instruction Manual

128-line solid-state hybrid
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Operation instruction of 128-line solid-state hybrid LiDAR v1.0
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  • Page 1 Operation instruction of 128-line solid-state hybrid LiDAR v1.0 www.leishen-lidar.com...

  • Page 2: Table Of Contents

    LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. Table of Contents 1.1 Description..................................................5 1.2 Operating principles................................................5 1.3 Structure and size................................................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...
  • Page 3 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. 3) Data sheet area...................................................29 4) 3D view..................................................... 31 Notes...................................................... 31 4. Communication protocol............................................... 45 1. Main data Stream Output Protocol (MSOP)..........................................49 1.1 Data structure of the data packet............................................. 50 1.2 Header....................................................51 1.3 Subframe..................................................52...
  • Page 4 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. 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 external sync pulse........................................84...

  • Page 5: Description

    ) /2 2. To prevent violation of the warranty clauses, private disassembly of the radar is prohibited and consultation must be made to the after-sales technical staff of LeiShen Intelligent System before related operations. 1.2 Operating principles Ranging principle of 128 series multi-line solid-state hybrid...
  • Page 6 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD.
  • Page 7 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. 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 Measuring range (30% reflectivity) 200 m Ranging accuracy ±2cm...
  • Page 8 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. Data speed 830,000 points/second (2 echoes) (1,660,000 points/second) Vertical Viewing -17° - +14° Angle Horizontal 150° Angular Vertical Uniform 0.25° resolution Horizontal 5Hz: 0.09º 10Hz: 0.18º 20Hz: 0.36º 30Hz: 0.54º...
  • Page 9 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. Storage temperature -40℃～+105℃ Light condition Operate in strong sunlight or in the dark Temperature Non-condensing Impact 500 m/sec² for 11ms Vibration 5Hz – 2,000Hz, 3G rms IP grade IP67 Dimension...

  • Page 10: Structure And Size

    LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. 1.3 Structure and size Figure 3 Schematic diagram of the structure and size of 128-line LiDAR 2. Interface description 2.1 Electrical interface...

  • Page 11: Device Power Supply

    LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. 2.1.1 Device power supply Power supply input range 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 multi-line LiDAR. Serial numbers of the cables are as follows.
  • Page 12 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. 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 network RJ45 Internet access, GPS timing interface.
  • Page 13 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. Figure 6 Schematic diagram of adapter box of 128-line LiDAR...

  • Page 14: Mechanical Interface

    LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. 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. Figure 7 Schematic diagram of mechanical interface...

  • Page 15: Software Instructions Under Windows

    LeiShen Intelligent System CO., LTD. 3. Software instructions under Windows Introduction This document aims to guide users to operate 128-line LiDAR of LeiShen Intelligent System CO., LTD. and supporting 128-line LiDAR display software. Applicable scope LeiShen Intelligent System multi-line LiDAR display software is applicable to LeiShen Intelligent System 128-line LiDAR.
  • Page 16 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. 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 to enter the installation path selection interface.
  • Page 17 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. 4. After completing the custom installation path (Chinese path is not recommended), click next to enter the installation interface, click the install button, and wait for the installation.

  • Page 18: Introduction And Use Of Related Functions

    LeiShen Intelligent System CO., LTD. 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 includes: data area, 3D view, menu bar, functional area...

  • Page 19: Menu Bar

    LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. Menu bar Functional area Data area 3D view 1) Menu bar...

  • Page 20: Functional Area

    LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. Lidar page: to select radar type, measurement grid display, view settings, port number settings and more. Offline page: to play offline data of LSC16, LSC32, and LS31A, and record corresponding offline data.
  • Page 21 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. Click the radar button to select the radar type. Click the 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 outermost circle has a radius of 200m.
  • Page 22 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. Click the button to clear the current view. Click the button to display the coordinate origin position. Click the button to change the background color of the 3D view area.
  • Page 23 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. ⑥Motor state: three modes: static, rotary and output (check double start bit) are optional. ⑦GPS time, longitude 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 the Settings button and follow this step to use the software.
  • Page 24 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. Radar IP, port Computer IP, port Local time Radar speed Packet interval Mac address Motor state GPS time Longitude and latitude Motor speed Radar IP Port number...
  • Page 25 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. Click the button and enter the password 143 to enter the developer advanced write-in settings interface: Serial number Version number Segment factor Distance correction Range Radar-related parameters have been tested and it is not recommended to modify related parameters. Refresh the radar status first, then...
  • Page 26 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. settings which will take effect immediately. Click the button to control display of the radar-related channel...
  • Page 27 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. Click the check box on the left to close (open) a channel data accordingly. Click on All/All no choice in the upper left corner to open (close) all channel data at once. Click on the “Applicable to future dialogs” in the lower left corner to record the current radar harness selection status for the next application.
  • Page 28 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. ③Click the button to control fast forward play. Click the button to control fast backward play. ④Click the button to jump to the last frame. Click the button to jump to the first frame.

  • Page 29: Data Sheet Area

    LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. Click the button to store the data and record the point cloud pcap file. This function is available during receiving the radar data status in real time. After clicking, the pcap file storage dialog box will pop up. After selecting the path, the storage process will start, and click again to complete save.
  • Page 30 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD.

  • Page 31: View

    LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. 4) 3D view The direction of the 3D display interface coordinate axis is consistent with the X-Y axis direction on the x-y-z axis of the point cloud reference system. The point cloud display interface supports the following operations: ①The mouse wheel can zoom in/out the display interface;...
  • Page 32 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. cannot use these two software to receive radar data synchronously on the same PC, otherwise one of the software will crash. At the same time, as Qt is used in the underlying software development and the Chinese path cannot be recognized, please do not use the Chinese path when naming the file and path folder.
  • Page 33 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. 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 figure.
  • Page 34 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. 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), and the subnet mask is set to 255.255.255.0.
  • Page 35 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. (3) As the LeiShen multi-line radar display 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 capture with wireshark software, the...
  • Page 36 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. In Control Panel -> System and Security -> Windows Firewall Settings, click “Allow programs to successfully pass Windows firewall”, as shown below.
  • Page 37 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD.
  • Page 38 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. Browse and find the software installation path, select it and click OK to set the program network application. As shown in the figure:...
  • Page 39 Check the part marked in the red box according to the nature of the user's network, and click OK to view the data. 2. Where LeiShen Intelligent System Multi-line Lidar display software is installed on a desktop or laptop with dual graphics cards, the default global setting of the computer operating system (automatic selection: integrated graphics) may affect the display efficiency of the software.
  • Page 40 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. Therefore, users need to manually adjust the settings and manually switch the software's applicable 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 (NVDIA GeForce GTX 960) as...
  • Page 41 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. 2. Select the Manage 3D Settings button in the NVDIA Control Panel program interface that pops up, as shown below.
  • Page 42 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. 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, as shown below.
  • Page 43 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. 5. Click the Browse button in the Add interface that pops up, as shown below.
  • Page 44 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. 6. Find the application file (.exe file) of the software according to the installation path of the software in the 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 Processor for this Program, and click on the application in the lower right corner.

  • Page 45: Communication Protocol

    LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. 4. Communication protocol The radar communicates with the computer through Ethernet and 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 parameters can...
  • Page 46 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. to the same IP when setting the radar IP, otherwise the radar will not work properly). Table 1 Default Network configuration IP Address Port number Radar 192.168.1.200 2368 Computer 192.168.1.102...
  • Page 47 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. Figure 1 ARP packets captured by Wireshark...
  • Page 48 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. Figure 2 ARP message content The communication protocols between radar and computer are mainly divided into four categories. See Table 2 below for a list. Main data Stream Output Protocol, which encapsulates the distance, angle, reflectivity and other information scanned by the radar into a package and outputs to ...

  • Page 49: Main Data Stream Output Protocol (Msop)

    LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. output User configuration User Configuration UCWP device 1248byte Write Protocol parameters input 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.

  • Page 50: Data Structure Of The Data Packet

    LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. measured distance value, the angle value, and the time stamp, with a length of 1248 bytes. For the radar, the data format structure of a complete MSOP Packet includes a frame header, a subframe, 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.

  • Page 51: Header

    LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. 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 position of the data.

  • Page 52: Subframe

    LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. 1.3 Subframe The sub-frame data packet is the valid data area of the data packet, which is 1200 bytes in total. It consists of 12 data blocks, each of which is 100 bytes in length, representing a complete set of ranging data.
  • Page 53 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD.
  • Page 54 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD.
  • Page 55 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD.

  • Page 56: Angle Value Definition

    LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. Figure 10 Distribution of 128-line optical channels 1.3.1 Angle value definition...
  • Page 57 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. The angle value when the first ranging result is returned during the 32 laser ranging processes is used as the horizontal angle value of the radar. The angle value is derived from the angle encoder. The zero point of the angle encoder is the zero point of the angle. The resolution of the horizontal angle value is determined according to the motor speed (5Hz, 10Hz, 20Hz) (0.09°, 0.18°, 0.36°), and the specific angles in the vertical...
  • Page 58 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. Figure 11 Positive direction coordinate graph of radar...
  • Page 59 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. The Nth data block interval data block contains the latest echo of the first measurement, and the N+1th data block interval data block contains the latest echo of the second measurement. Since the left and right sides simultaneously transmit one optical pulse, the angle value provided by the Nth group corresponds to the optical pulse transmitted by the left and right sides for the first time, and the angle values corresponding to the other 15 laser points may be obtained through interpolation.

  • Page 60: Tail

    LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. Distance1[15:8] Distance2[7:0] Atten reflectivity information Note: Distance is 2 bytes in cm with the resolution of 1cm. The reflectivity information is the relative reflectivity, which can reflect the reflectivity performance of the system under the measured environment. The reflectivity information can be used to distinguish the objects of different materials.

  • Page 61: Device Information Output Protocol (Difop)

    LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. Factory byte (1247-1248) Byte1 Byte2 Function Return Mode Device Type Corresponding meaning of byte content Filed 4DEh Filed 4DEh Value Meaning Value Meaning Strongest Return Dual Return 5.2 Device Information Output Protocol (DIFOP) Device Info Output Protocol, DIFOP for short.
  • Page 62 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. compatibility information, network configuration information, calibration information, motor running configuration, operating status, and fault diagnosis information to the “output only" protocol of the user, and the user can read the DIFOP to interpret the various parameters of the currently used device.
  • Page 63 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. Radar rotation/stop Compatible with Velodyne Device stream packet interval Reserved Firmware version Reserved Longitude and latitude Reserved 1078...

  • Page 64: User Configuration Write Protocol (Ucwp)

    LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. Tail Tail 1204 Note: The Header (DIFOP identification header) in the table is 0xA5, 0xFF, 0x00, 0x5A, 0x11, 0x11, 0x55, 0x55, where the first 4 bytes can be used as the check sequence of the packet, namely 0xA5, 0xFF, 0x00, 0x5A.
  • Page 65 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. The specific protocol must refer to the following table. Table 8 UCWP Packet data format and structure Segment Information Offset Length (byte) Header UCWP identification header Motor speed Ethernet Reserved...

  • Page 66: Ethernet

    LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. packet interval Reserved 1152 Tail Tail 1204 Note: The Header (UCWP identification header) in the table is 0xAA, 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.

  • Page 67: Time

    LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. Function MAC_ADDR port1 byte17 Byte18 Byte19 Byte20 Byte21 Byte22 Byte23 Byte24 Function Port2 Port3 Port4 Port5 Byte25 Byte26 Function Port6 Description of register: (1) IP_SRC is the source IP address, occupying 4 bytes...
  • Page 68 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. Timestamp memorizer Byte21 Byte22 Byte23 Byte24 Byte25 Byte26 Byte27 Byte28 Byte29 Byte30 Function year month hour Description of register: 1) year reg name: set_year bit7 bit6 bit5 bit4 bit3 bit2...
  • Page 69 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. 3) day reg name: set_day 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 bit7 bit6 bit5 bit4 bit3...
  • Page 70 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. Function Reserved Reserved set_min[5:0]: 0~59 min 6) sec reg name: set_ sec bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 Function Reserved Reserved set_sec[5:0]: 0~59 sec 7) ms reg name: set_ ms...

  • Page 71: Serial Number

    LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. 8) us reg name: set_us Bit15 Bit14 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8 Function Reserved Reserved Reserved Reserved Reserved Reserved us[9:8] bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 Function...
  • Page 72 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. Number and line 0x00 0x01 0x02 0x03 0x04 0x05 0x06 Line C128 number Operating distance (m): Operating distance 0x00 0x01 0x02 0x03 Operating distance Number-----Range of four bytes number 0x00000000~0xFFFFFFFF.

  • Page 73: Firmware Version

    LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. 5.3.5 Firmware version Table 13 Definition of firmware version byte Firmware version byte (4 bytes in total) Byte1 Byte2 Byte3 Byte4 Function For example: V 1.0.0 5.3.6 Radar rotation/stop Table 14 Definition of radar rotation/stop byte...

  • Page 74: Equipment Packet Interval

    LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. 5.3.7 Equipment packet interval Table 15 Definition of equipment packet interval byte Equipment packet interval byte (2 bytes in total) Byte1 Byte2 Function Set interval Calculate hexadecimal number from the value obtained from packet: 0x00 and 0xA6.
  • Page 75 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. Function Signal marker The transmission signal 0x ABCD indicates 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 point cloud data. If the signal...

  • Page 76: Longitude And Latitude

    LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. 5.3.9 Longitude and latitude Table 17 Definition of longitude and latitude byte Longitude and latitude byte (22 bytes in total) byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Byte8 Function Latitude (byte 1 is abandoned byte, byte2-byte10 indicate latitude value)

  • Page 77: Example

    LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. 5.3.10 Example To reset local IP to 192.168.1.105, the destination IP to 192.168.1.225, Mac address to 0x001C23174ACC, local port to 6688, destination port to 8899, and rotation speed to 1200rpm, the radar shall rotate and be compatible with Velodyne, and reset the value according to the table below based on UCWP Packet and the definition of each register.
  • Page 78 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. (port2) 00, 00, 00, 00, 0x00, 0x00, 0x00, 0x00, port3~port6 00, 00, 00, 00 0x00, 0x00, 0x00, 0x00 Reserved Reserved 0x00 Radar Rotate 0x0000 rotation/stop Compatible with Compatible 0xABCD Velodyne...

  • Page 79: External Time Synchronization

    LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. 5.4 External time synchronization The synchronization of the laser radar with the external system is realized through: 1. When synchronized with GPS timing system, GPS will be lock, and the radar counts in microseconds from zero when it receives PPS from timing system.

  • Page 80: Gps Timing Synchronization

    LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. 5.4.1 GPS timing synchronization C16 Series radar can synchronize its data with accurate GPS time. GPS Pulse Positive Second (PPS) signal provides the ability to calculate the exact trigger time for each laser data point, which is useful for earth reference and other applications. The connection and performance conditions of GPS timing module connected to radar are: ...
  • Page 81 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. 7 in the Device Information Output Protocol (DIFOP), which is numbered 3, and the device information output protocol is repeatedly transmitted three times in one second (Users only need to receive it once for accurate time reference). The length of the data is 10 bytes, which mainly includes year, month, day, hour, minute, second, and millisecond.
  • Page 82 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. ------- according to the formula above: TimeOffset ------- calculated with table 19; exact time of 192nd pulse ------- T + (n-1)*3.125 us - 596.875us (n is any number between 1~192)
  • Page 83 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. Table 19 The offset of the corresponding time of main data laser point position by one frame data packet Unit:...

  • Page 84: Synchronization Of External Sync Pulse

    LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. 5.4.2 Synchronization of external sync pulse The C16 series radar can be externally synchronized with the external system to obtain clock synchronization without GPS timing module. The external sync signal provides a reference for calculating the exact trigger time for each laser data point. The radar internally starts counting from zero in microseconds after triggering the rising edge of the external synchronization signal, and starts counting from zero when the next external synchronization signal arrives.
  • Page 85 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. Table 12 External sync pulse signal sequence The exact time of the last laser pulse data point (192nd) of the radar frame data packet: exact time of 192nd pulse external sync time base timestamp of packet ------- The exact time of the last laser pulse;...

  • Page 86: Radar Internal Time Count

    LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. 5.4.3 Radar internal time count When the C16 series radar is connected without GPS signal synchronization or external synchronization signal, the radar counts from the internal clock and starts counting from zero in microseconds. It counts to 1 hour (360*10 us) and starts from zero.
  • Page 87 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. LeiShen Intelligent 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 Road, Shajing Jiedao, Baoan District, Shenzhen Tel.: +86-0755-23242821...
  • Page 88 LeiShen Intelligent System CO., LTD. LeiShen Intelligent System CO., LTD. Address of LeiShen Factory: 601 Taijiale Industry Office Building, Tongguan Road, Tianliao Community, Gongming Subdistrict Office, Guangming New District, Shenzhen Tel.: +86-0755-27190511 Fax: +86-0755-23244803 Address of Zhejiang Factory: 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, Tianjin...
  • Page 89 *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 any errors or omissions, please contact us. *LeiShen Intelligent may change product information in the manual at any time without prior notice. © 2019 All rights reserved by LeiShen Intelligent System CO., LTD.

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