Livox Horizon User Manual
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Livox Horizon User Manual

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Livox Horizon
User Manual
v1.0
2019.10

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Summary of Contents for Livox Horizon

  • Page 1 Livox Horizon User Manual v1.0 2019.10...

  • Page 2: Using This Manual Legend

    Warning Important Hints and Tips Explanation Downloading Documents Visit the link below to download the latest Livox Horizon User Manual and other documents related to the Livox Horizon. www.livoxtech.com/horizon Downloading Livox Viewer Visit the link below to download Livox Viewer.

  • Page 3: Table Of Contents

    Output Data Working States & Working Modes Dual Return Mode Livox Viewer Software Development Kit (SDK) Storage, Transportation, and Maintenance Storage Transportation Maintenance Troubleshooting After-Sales Information Appendix Appendix 1 Appendix 2 Appendix 3 Specifications © 2019 Livox Tech. All Rights Reserved.

  • Page 4: Product Profile

    Single Return and Dual Return Modes Supported: Horizon can be set to Dual Return mode. In Dual Return mode, Horizon has a point rate of 480,000 points per second, which is twice the amount than in Single Return mode.
  • Page 5 Figure 1.2.1 displays the point cloud allocation of the Horizon inside the FOV within 0.1s. In the center of the FOV, the scanning density is denser with the average spacing of lines being 0.2° (most line spacing is from 0.1°...
  • Page 6 False Alarm Ratio (@100 klx) < 0.01% • Livox Horizon cannot precisely detect objects which are less than 0.5 m away. In this situation, the serial number of the Livox Horizon displayed on Livox Viewer will change color to warn users.

  • Page 7: Overview

    LiDAR's shell does not external power source due to the extra voltage exceed 85° C (185° F). Otherwise, the Horizon reduction. Make sure the maximum voltage may enter the over temperature error status does not exceed 15 V.

  • Page 8: Connectors

    An RJ45 type Ethernet connector is used to A JAE MX34012NF1 type connector port used connect to Ethernet cables. to connect to the Horizon. The mating connector 4. Sync Port is JAE MX34012SF1 LiDAR. The 3-pin sync port supports 3.3V LVTTL sync 2.

  • Page 9: Power Cable And Sync Cable

    The Horizon cables package includes a power cable and sync cable. Power Cable Connect “A” to the power port of the Livox Converter 2.0 and connect “B” to an external DC power supply. The connector type of this power cable is MOLEX 105307-1202.

  • Page 10: Ethernet Port

    Livox Horizon User Manual Sync cable Connect “A” into the sync port of the Livox Converter 2.0 and connect “B” to the sync signal. The sync cable has a 3-pin connector. The connector type is Famfull 9.510A0-003-1R0, which is compatible with JST GHR-03V-S type connectors.

  • Page 11: Mounting Notice

    3. When mounting the Horizon, the field of view must not be blocked by an object, including glass. Refer to Figure 3.1.1. 4. When mounting the Horizon, make sure there is enough space for ventilation for the air inlet and air outlet. Allow at least 10 millimeters from the nearest objects.

  • Page 12: Dimensions

    Livox Horizon (with the self-dissipation module) The top surface of the Horizon has six M3 mounting holes with a depth of 6 mm while the bottom surface has four M3 mounting holes with a depth of 6 mm. Make sure all the screws have been secured with a depth deeper than 4 mm.
  • Page 13 77 × 115 × 84 mm Livox Horizon (without the self-dissipation module) The six M3 mounting holes with a depth of 6 mm on the top surface of the Horizon can be used to secure the Horizon when the self-dissipation module is detached.

  • Page 14: Getting Started

    Normally, the working power of the Horizon is 12 W. In an environment where the temperature is from -40° to -20° C (–40° to -4° F), the Horizon will first enter self-heating mode, which lasts at least three minutes. In self heating mode, the working power of the Horizon may reach up to 42 W. The working power of the Horizon varies at different temperature.

  • Page 15: Connection

    IP addresses are connected in different ways. 1.The static IP address is connected by default and in this mode, the Horizon can be connected to a computer directly. 2. To connect to the dynamic IP address, make sure the Horizon is switched to dynamic IP mode by using the Livox Viewer or SDK.
  • Page 16 Connect the Livox Converter 2.0 to an external power source. • If multiple Horizon LiDAR sensors are set to static IP addresses, make sure all the Horizon LiDAR sensors have different IP addresses and use a switchboard to connect them to the computer.

  • Page 17: Usage

    Usage Coordinates The Horizon has a built-in IMU. The coordinates of the point cloud O-XYZ and of the IMU O'-X'Y'Z' are defined as below: The origin O' of IMU coordinates is defined in the point cloud coordinates as (-55.12, -22.26, 29.70) (Unit: mm).
  • Page 18 0. After that, if there is any object within the detectable range, the first laser that returns to the Horizon is recorded as return 1, and then return 2, and so on. If the object is too close to the Horizon such as 1.5 m away, the first effective return will be merged into return 0, and be recorded...
  • Page 19 PPS signal status. Status codes can be viewed in Livox Viewer or in the SDK. Refer to the Livox Viewer section for more information about how to check status codes.

  • Page 20: Working States & Working Modes

    Standby Normal Initializing Power saving Figure 5.3.1 Relationship between the different working states The Horizon also has three working modes: Normal, Standby, and Power Saving. These modes can be set in Livox Viewer and SDK. Standby Normal Power saving Figure 5.3.2 Relationship between the different working modes available in Livox Viewer ©...

  • Page 21: Dual Return Mode

    Dual Return Mode The Horizon can be set to Dual Return mode using Livox Viewer or SDK. The Horizon can generate a point cloud of up to two returns in Dual Return mode, which has a point rate of 480,000 points per second.
  • Page 22 Help: Click for more information about Livox Viewer. : Click to open a saved point cloud data file in .lvx format. : Click to open the Device Manager to search for all the Livox LiDAR sensors and Livox Hubs in the LAN.
  • Page 23 : Click to fast forward by one frame (not available when checking real-time point clouds). : Click to play or pause. : When one or more Livox LiDAR sensors are connected, click to start recording the live data. Click again to stop recording.
  • Page 24 : Click to sort all connected LiDAR sensors by their broadcast numbers. Note that the two icons mentioned can only display or hide the point cloud data displayed in Livox Viewer, but they will not enable or disable the LiDAR sensors by sampling point cloud data.
  • Page 25 Livox Horizon User Manual In the example above, “1HDDG6U00100201” represents the broadcast code of the Livox LiDAR sensor. Click “Start Cali” to check the coordinates of all the Livox LiDAR sensors connected. Users can manually enter each coordinate. Alternatively, select a coordinate and use the wheels at the bottom of the screen to adjust the coordinates.

  • Page 26: Software Development Kit (Sdk)

    Storage, Transportation, and Maintenance Storage The storage temperature range for the Livox Horizon is from -40° to 85° C (-40° to 185° F). Keep Livox Horizon LiDAR sensors in a dry and dust-free environment. • Make sure the Horizon LiDAR sensors are not exposed to environments containing poisonous or corrosive gases or materials.

  • Page 27: Transportation

    Livox Horizon User Manual • If a Horizon LiDAR sensor is not to be used for more than three months, regularly check the sensors and connectors for abnormalities. Transportation Before transportation, place Livox Horizon LiDAR sensors in a suitable box for transportation and make sure it is secure.

  • Page 28: After-Sales Information

    • Make sure the voltage and power supply is suitable. The voltage Cannot start sampling should be between 10 and 15 V. If a Livox Converter 2.0 is in use, make sure the power supply has a voltage range between 10 and 15 V.
  • Page 29 Livox Horizon User Manual Appendix 2 Livox Horizon Dimensions without Self-Dissipation Module (Unit: mm) 73.0 57.6 34.0 +0.1 73.0 57.6 34.0 2- 2.2 2 +0.1 +0.05 7-M2 4 6-M3 6 2- 2.2 2 +0.05 2.2 2 60.00 7-M2 4 6-M3 6 2.2 2...

  • Page 30: Specifications

    IP67 Built-in IMU model: BMI088 Power 12 W (Startup: 30 W) Livox Horizon: 10 ~ 15 V DC (recommended 12 V DC and 30 W or higher) Power Supply Voltage Range Livox Converter 2.0: 9 ~ 30 V DC Noise 40 cm omnidirectional <...
  • Page 31 Copyright © 2019 Livox Tech. All Rights Reserved. Livox and Livox Mid are trademarks of Livox Technology Company Limited. Windows is a registered trademark of Microsoft Corporation in United States and other countries.

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