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Summary of Contents for OLEI LR-1F Series
- Page 1 Sensing Reality! LiDAR Sensors LR-1F Series User Manual Please read this user manual for best product performance before using the product. Be sure to keep this manual properly for future reference. OMEN-1F-202012...
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Page 2: Table Of Contents
User Manual LR-1F 目录 About this documen ..............................1 Safety information................................ 1 Product introduction ..............................1 Installation and operation ............................1 Mechanical interface ............................... 1 Pin and wire color assignments ..........................2 Communication interface ............................4 Measurement principle ..............................5 Data packet format ............................... -
Page 3: About This Documen
Opening the screws of the LiDAR housing will invalidate any warranty claims against OLEI. Repairs may only be performed on the LiDAR by trained and authorized OLEI service personnel 3 Product introduction LR-1F is a 360° continuous scanning LiDAR. It not only provides a full-angle scanning range, but also obtains a longer measuring distance due to optimized optical design. -
Page 4: Pin And Wire Color Assignments
User Manual LR-1F Figure 1 Back mounting interface of LR-1F Bottom-mounted There are three M5 screw holes (hole depth is 8mm) at the bottom of the LiDAR. Figure 2 Bottom mounting interface of LR-1F 4.2 Pin and wire color assignments LR-1F is equipped with 3 interfaces, namely power supply interface, I/O interface and 4 PIN Ethernet interface. - Page 5 User Manual LR-1F Power interface The power interface adopts 12~32VDC power supply Definition Cable color black gray blue white VCC（12~32VDC） brown/red Table 1 Definition of power interface Female: Male: Figure 4 Diagram of power interface I/O interface Definition Cable color orange Output 0...
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Page 6: Communication Interface
User Manual LR-1F definition RxData-：receive- Table 3 Definition of Ethernet interface Female: Male: Figure 6 Diagram of Ethernet interface 4.3 Communication interface The LR-1F is connected to the computer by a RJ-45 Ethernet interface. The computer IP address should be set up before communication. The LiDAR and computer IP must be set up in the same subnet without any conflict. -
Page 7: Measurement Principle
User Manual LR-1F Figure 8 Step 2 of computer IP setting Figure 9 Step 3 of computer IP setting 5 Measurement principle Detector Laser diode Figure 10 Diagram of LR-1F LiDAR work principle OMEN-1F-202012... -
Page 8: Data Packet Format
User Manual LR-1F As is shown in the figure above, LR-1F measures distance by using the time-of-flight principle. The LiDAR emits pulsed laser beams using a laser diode. If one of these laser pulses hits an object or a person, this is reflected at its surface. The reflection is detected in the LiDAR's receiver by a photodiode. -
Page 9: Definition Of Data Block
User Manual LR-1F Offset Length Description Internal model code Hardware version Software version Timestamp, unit: ms Bit[14:0]: Rotation rate BIT 15：rotation direction（0：clockwise，1： anticlockwise） Safe zone status, same as status of the hardware INPUT/OUTPUT BIT[3:0]: Same as OUTPUT[3:0] BIT[7:4]: Same as INPUT[3:0] Error status, the corresponding position is “1”, indicates an error BIT0: Motor fault, BIT1: Power fault,... -
Page 10: Parameter Configuration
User Manual LR-1F 6.4.2 Distance calculation Details on calculating distance of LR-1F is shown as below: 1) Obtain distance value:0x11 & 0x12 2) Interchange of high bits and low bits:0x12 & 0x11 3) Combine into an unsigned hexadecimal number:0x1211 4) Convert to decimal:4625 5) Multiply by distance ration:suppose distance ration is 1mm 6) Result:4625mm 6.4.3 Calculation of signal strength... -
Page 11: Configuration Of Olamviewer
User Manual LR-1F Figure 12 Parameter configuration of web page 7.2 Configuration of OlamViewer The OlamViewer interface is shown as following. Please refer to OlamViewer software manual for detail. Figure 13 Sample of The OlamViewer interface The Web page setting interface and The OlamViewer interface may change due to continuous update of products and is subject to actual content. -
Page 12: Troubleshooting
LiDAR fails to scan Verify whether the power voltage meets 12~32VDC Please contact OLEI if the above conditions are normal. Verify whether the network connection is normal Verify whether the IP settings on the data receiver are correct. -
Page 13: Appendix A Data Packet
User Manual LR-1F Appendix A Data packet OMEN-1F-202012... -
Page 14: Appendix B Mechanical Dimensions
User Manual LR-1F Appendix B Mechanical Dimensions OMEN-1F-202012... -
Page 15: Appendix C Example Of Electrical Connection
This appendix will explain how to use LidarUpgrade2D to upgrade the firmware version of the LR-1F series LiDAR. Figure 14 Icon D.1 Function of software For 2D LiDAR LR-1F series firmware upgrade D.2 Surroundings for software - Windows 7,8,10 - .Net framework 4.5.2 D.3 Software operation... -
Page 16: Appendix E Ros Drive
User Manual LR-1F Figure 15 Interface of software upgrade -3. Clicking the"Upgrade",restart the LiDAR power, the file will be downloaded to the LiDAR automatically. -4. Check the"Continuous mode", after the upgrade, it will automatically wait for the next upgrade, which can be used to upgrade LiDAR firmware in batches. Appendix E ROS Drive One-key script of 2D LiDAR ROS drive: wget http://cn.ole-systems.com/sh/ole2d.sh... -
Page 17: Appendix F Suggestions On Mechanical Installation
User Manual LR-1F these IP and port can be modified by vendor config software 4. run LiDAR drive at first terminal >roslaunch olelidar scan.launch rviz view 1. new terminal,then run rviz >rosrun rviz rviz -f olelidar 2. at rviz,add topic olelidar/scan/LaserScan Appendix F Suggestions on Mechanical Installation When installing LiDAR, pay attention to the following points: 1. - Page 18 User Manual LR-1F Figure 18 Placement of two LiDARs with parallel offset Figure 19 Placement of two LiDARs with parallel offset, one of these upside down Figure 20 Placement of two LiDARs upside down, parallel offset Figure 21 Placement of two LiDARs with parallel offset, one of these upside down OMEN-1F-202012...
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Page 19: Appendix G Cleaning Of Sensor
User Manual LR-1F The emission position of the 2D LiDAR from the reference plane is as follows: Figure 22 Light emission position of LR-1BS, LR-1B, LR-1F Appendix G Cleaning of sensor OLE-LiDAR, especially the ring-shaped protective cover, should be kept clean in order to accurately sense the surrounding environment. - Page 20 User Manual LR-1F Official WeChat Regarding changes in specifications, etc., without notice! MorpheusTEK Inc Exclusive OLEI Distributor Partner sales@morpheustek.com +1-610 883 6026 Copyright: Hangzhou Ole-systems Co., Ltd. © Release: 2020-12...
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