Livox HAP User Manual
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Livox HAP User Manual

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LIVOX HAP
HAP (TX)
User Manual
v1.0
2022.07

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Summary of Contents for Livox HAP

  • Page 1 LIVOX HAP HAP (TX) User Manual v1.0 2022.07...

  • Page 2: Using This Manual Legend

    Important Hints and Tips Explanation Downloading Documents Visit the link below to download the latest Livox HAP User Manual and other documents related to HAP (TX). https://www.livoxtech.com/hap/downloads Downloading Livox Viewer 2 Visit the link below to download Livox Viewer 2.

  • Page 3: Table Of Contents

    Downloading Livox Viewer 2 Downloading Livox SDK Product Profile Introduction Product Characteristics Overview Connectors M12 Aviation Connector Livox Aviation Connector 1-to-3 Splitter Cable Mounting the HAP (TX) Effective FOV Range Mounting Notice Dimensions Getting Started External Power Supply Connection Usage...

  • Page 4: Product Profile

    Livox SDK supports Windows/Linux/Mac OS/ROS. The HAP (TX) has a detection range of up to 200 m, which can be reached when the target object reflects 35% of light or more. For reference, grey concrete walls and roads have a reflectivity range from 15 to 30%, while white plaster walls have a reflectivity range from 90 to 99% in an environment with a temperature of 25°...

  • Page 5: Product Characteristics

    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 coverage approaches 99%, so almost all areas are illuminated by laser beams.
  • Page 6 HAP (TX) will output warning message for blocking, and the serial number of the HAP (TX) displayed on Livox Viewer 2 will change color to warn users. If used 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.

  • Page 7: Overview

    Visit the DJI official store to purchase the Livox Aviation Connector 1-to-3 Splitter Cable. The Livox Aviation Connector 1-to-3 Splitter Cable can only be used for testing and debugging.

  • Page 8: Connectors

    Finecables, and the port number is MA12FAHD12STXXXB14. Both connectors have an IP rating of IP67. Users can connect the HAP (TX) with the Livox Aviation Connector 1-to-3 Splitter Cable (sold separately) for transmission of power, control signal, and data. Users can also replace the cable with other cables to improve the dustproof and waterproof protection of the HAP (TX).

  • Page 9: Mounting The Hap (Tx)

    Mounting the HAP (TX) Effective FOV Range As shown below, the HAP (TX) has a FOV of 120° horizontally and 25° vertically. When mounting the sensor, make sure that the FOV is not blocked by any objects. Visit www.livoxtech.com/hap to download the 3D model of the HAP (TX) and its FOV.

  • Page 10: Mounting Notice

    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.

  • Page 11: Getting Started

    In such scenarios, the HAP (TX) may not work normally or even be damaged. The HAP (TX) has a working power of 10 W when working normally at a temperature of 25° C. The working power varies depending on each sensor, but the maximum working power does not exceed 12 W.

  • Page 12: Connection

    HAP (TX) varies at different temperatures. Make sure the power supply is suitable based on the peak power of the HAP (TX). The value is for reference only. In normal conditions, the peak power varies depending on each sensor.
  • Page 13 If more than six HAP (TX) LiDAR sensors are required, use a gigabit router or a switch. The broadcast number for each LiDAR sensor can be viewed in the Device Manager of Livox Viewer 2 or the Livox SDK. For the HAP (TX), the broadcast number will be its serial number ending in an additional “1”.

  • Page 14: Usage

    (X, Y, Z, Roll, Pitch, Yaw)-> (8mm, 0 mm, 23 mm, 0°, 0°, 0°). Figure 5.1.1 HAP (TX) Coordinates For the HAP (TX) with built-in IMU, the angular velocity direction follows the right hand rule. Output Data The output information of HAP (TX) LiDAR sensors includes: •...
  • Page 15 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 (TX) is recorded as return 1, and then return 2, and so on. If the object is too close to the HAP (TX), such as 1.5 m away, the first effective return will be merged...
  • Page 16 The IMU Data mainly contains the 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.

  • Page 17: Livox Viewer 2

    Protocols for specific information. Information Push In normal conditions, the HAP (TX) pushes status information at 1 Hz (such as the status of the LiDAR sensor, error code, flash status); In abnormal conditions, the HAP (TX) keeps pushing status information at 100 Hz for 100 ms for users to quickly recognize the error and take action.

  • Page 18: Software Development Kit (Sdk)

    • 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, regularly check the sensors and connectors for abnormalities.
  • Page 19 If the optical window is still dirty, a mild soap solution can be used to gently wash the window. Repeat Step 2 to remove any remaining soap residue. © 2022 Livox Tech All Rights Reserved.

  • Page 20: Troubleshooting

    User Manual LIVOX HAP Troubleshooting The table below shows you how to troubleshoot and resolve common issues with HAP (TX) LiDAR sensors. If the issue persists, contact Livox. Issue Solution Cannot detect the • Make sure that all cables are correctly wired.

  • Page 21: Appendix

    User Manual LIVOX HAP Appendix HAP (TX) Dimensions Unit: mm Side View Top View 92.65 0.05 0.65 4-M3 6.5 0.1 Bottom View © 2022 Livox Tech All Rights Reserved.

  • Page 22: Specifications

    HAP (TX) will first enter self-heating mode, and its power may reach a maximum amount of 40 W. Make sure the power supply is suitable based on the peak power value of HAP (TX). ⑥ Make sure the output voltage of the power supply is within this range at all times.
  • Page 23 Visit the Livox official website to download the latest user 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.

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