Related Manuals for LSLIDAR N401-P
Summary of Contents for LSLIDAR N401-P
- Page 1 N401-P User Manual V5.0.1 2022.06 LeiShen Intelligent System Co., LTD http://www.lslidar.com/...
- Page 2 ∆Attention Please do not disassemble or modify the Lidar privately. If you need special instructions, please consult the technical support staff of LSLiDAR. ∆Laser Safety Level The laser safety of this product meets the following standards: ●...
- Page 3 Vibration Please avoid product damage caused by strong vibration. If the product's mechanical shock and vibration performance parameters are needed, please contact LSLiDAR for technical support. Radio Frequency Interference The design, manufacture and test of this product comply with relevant regulations on radiofrequency energy radiation, but the radiation from this product may still cause other electronic equipment to malfunction.
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Page 4: Table Of Contents
Table of Contents Product Profile ......................1 1.1 Overview ......................1 1.2 Mechanism ..................... 1 1.2.1 Time of Flight ..................1 1.2.2 Grid Map Presentation ..............2 1.2.3 Reflector Positioning ................. 2 1.3 Specifications ....................3 1.4 Connection ..................... 4 1.5 Interface Definition .................. - Page 5 Figure 1-1 Mechanism of N401-P ............... 1 Figure 1-2 Demonstration of Ranging Function ..........2 Figure 1-3 Example of N401-P Grid Map Image ..........2 Figure 1-4 Demonstration of Reflector Positioning ......... 3 Figure 1-5 N401-P Mounting Dimension (unit: mm) ........4 Figure 1-6 N401-P Mechnical Dimension (unit: mm) ........
- Page 6 List of Tables Table 1-1 Specifications of 20K-PRF Models ............ 3 Table 1-2 Interface Definition ................6 Table 1-3 Extension Cable Pin Definition ............7 Table 1-4 Interface Box GPS Port Definition ............ 8 Table 2-1 Electrical Parameters................10 Table 4-1 Laser Optical Parameters ..............13 Table 5-1 Lidar Menu Button Description ............
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Page 7: Product Profile
1 Product Profile 1.1 Overview Based on TOF (time of flight), the N401-P series can two-dimensionally scan and detect the environment across 360°. The lidar series uses wireless power supply and wireless communication internally, and the pulse repetition frequency (PRF) is 20KHz. -
Page 8: Grid Map Presentation
You can get the 2D grid map information of the surrounds across 360° within the detecting distance, based on the combination of the distance value calculated in real-time by the signal processing unit embedded in the N401-P series and the angle information output by the highly accurate self-adjusted angle measuring module. -
Page 9: Specifications
If the positions of three positioning plates are measured simultaneously for calculation, the positioning accuracy can reach millimeter level. Figure 1-4 Demonstration of Reflector Positioning 1.3 Specifications Table 1-1 Specifications of 20K-PRF Models Model N401-P scanning angle 360° 20KHz Scanning Rate 20Hz/10Hz Angular Resolution 0.36°: 20Hz... -
Page 10: Connection
After the system is properly powered up, you can get the scanning and ranging data of the lidar by calling the driver program of N401-P. Based on the speed stabilization function of the N401-P lidar system, you can set the scanning frequency by command, and the system automatically obtains the speed information in real-time. -
Page 11: Interface Definition
Figure 1-6 N401-P Mechnical Dimension (unit: mm) 1.5 Interface Definition The side of N401-P lidar base has an 8-pin aviation plug. You can use an extension cable with a socket or an interface box to lead the function cable out. -
Page 12: Extension Cable
User Manual slot Contact Surface (facing A) Figure 1-7 Lidar Base Connector Table 1-2 Interface Definition Definition Level Description 9~32V Power+ Ethernet Data Stream TD_N -1~1V LiDAR → External Device Ethernet Data Stream TD_P -1~1V LiDAR → External Device Ethernet Data Stream RD_N -1~1V External Device →... -
Page 13: Interface Box
User Manual be forceful to avoid the deformation of terminals or even short circuits. If the connector is damaged, please promptly contact technical support for a replacement. Figure 1-8 Extension Cable Table 1-3 Extension Cable Pin Definition Color and Specification Definition Description Red (20AWG) -
Page 14: Interface Box Connection
User Manual Figure 1-9 Interface Box The GPS port of the interface box is the SM06B-SRSS-TB presented by JST, and the recommended plug interface for the external GPS module is SHR-06V-S-B presented by JST. Table 1-4 Interface Box GPS Port Definition S/N Definition I/O Description TTL level range from 3.3V to 12V;... -
Page 15: Figure 1-10 Interface Box Connection
User Manual Figure 1-10 Interface Box Connection... -
Page 16: Electrical Parameters
User Manual 2 Electrical Parameters The N401-P series communicate with Fast Ethernet. An N401-P lidar is made of a high frequency ranging core, a wireless transmission system, and a rotating subsystem. The rotating subsystem is driven by a brushless DC motor spinning inside the system. - Page 17 User Manual measures. Or you can use the interface box presented by LSLiDAR, which has been improved inside in terms of the problem.
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Page 18: Communication Protocol
User Manual 3 Communication Protocol When the N401-P is working, each set of data is output through the communication interface. The output data has uniform message formats. If you need the detailed communication protocol, N401-P LiDAR Communication Protocol V1.6, or N401-P LiDAR Communication Protocol V1.7, please contact... -
Page 19: Optical Features
User Manual 4 Optical Features 4.1 Laser Dependent on a 905nm laser, N401-P emits high-frequency pulsed lasers through the optical assembly, receives the laser signal through the optical assembly, and completes the photoelectric conversion by the receiver board. The distance value calculation is completed by the master control chip and the... -
Page 20: Optical Structure
User Manual 4.3 Optical Structure The N401-P series uses a telescopic optical structure with the receiver and transmitter placed horizontally side by side. When designing the lidar installation and robot system integration, it is necessary to focus on the internal optical structure of the LIDAR so that the effective detection angle of the LIDAR can be designed accurately. -
Page 21: Development Tool And Supports
N401-P LIDAR point cloud display, parameter configuration, simple radar testing, etc. *Note: The point cloud display software of N401-P is the same as that of N301- 5.1.1 Software Interface Introduction The software interface contains a menu area, a toolbar area, a 3D view area, a data table area, a company website link, etc. -
Page 22: Software Operation
User Manual 5.1.2 Software Operation ⚫ Set the data packet port number (default: 2368), and the device (or telemetry picture below) packet port number (default: 2369) ⚫ After connecting the lidar to the power and network cables, click the button for real-time lidar data reception. -
Page 23: Table 5-1 Lidar Menu Button Description
User Manual ⚫ Scroll the mouse wheel to zoom in/out the display image; you can also hold the right mouse button and drag the image up/down to zoom in/out the display image. ⚫ Hold the left mouse button and drag the display image to adjust the viewing angle. -
Page 24: Notes
Skip to the end Drag the progress bar or enter the frame number to skip to the specified position ⚫ Parameter Menu (N401-P) Table 5-3 Parameter Menu Button Description Button Description The upper part of the form shows the lidar configuration. -
Page 25: Figure 5-3 Data Packet Captured By Wireshark
User Manual 1) It is not possible to use the N401-P Windows client to receive data in two processes (open twice at the same time) on the same computer. The port occupancy of the PC is generally exclusive, so after a process is bound to a specified port number, the other software using the same process or the same port number cannot work normally. -
Page 26: Figure 5-4 Network Connection
User Manual Figure 5-4 Network Connection c) In the TCP/IPv4 property settings, set the IP address to the lidar's destination IP (The lidar's default factory IP and port are described in the lidar communication protocol), and the subnet mask is set to 255.255.255.0. -
Page 27: Figure 5-6 Windows Defender Firewall Setting
User Manual b) Browse to find the software installation path, select it and click OK. c) Tick the part marked in the red box according to the nature of your network, and click OK to see the data. Figure 5-6 Windows Defender Firewall Setting ▉... - Page 28 User Manual Control Panel”. b) Select the “Manage 3D Settings” in the NVIDIA Control Panel interface. c) Click the “Program Settings” button in the Manage 3D Settings interface. d) Click the “Add” button on the Manage 3D Settings interface. e) Click the “Browse” button in the pop-up interface. Find the application file (.exe file) of the software according to its installation path in the pop-up browsing interface.
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Page 29: Ros Driver Operation Under Linux Os
6 ROS Driver Operation Under Linux OS This section introduces the point cloud display and driver usage of LSLiDAR N401-P LIDAR on Linux. You can acquire the ROS driver from LSLiDAR technical support. The LSLiDAR N401-P ROS driver is applicable for N401-P point cloud display, parameter configuration, etc. -
Page 30: Software Operation Example
User Manual Figure 6-2 sudo tcpdump -n -i eth0 Command Feedback 6.2 Software Operation Example a) Establish a workspace and build a compilation environment mkdir -p ~/leishen_ws/src Note: The workspace can be named arbitrarily. (The path of workspace shall be in English only.) For example, “leishen_ws” can be changed to any name. b) Download the LiDAR ROS driver The ROS driver can also be obtained directly from our website or customer service. - Page 31 User Manual e) Display the data detected by the LiDAR In the “Displays Window” that pops up, modify the value of "Fixed Frame" to “laser_link”. Click the “Add” button at the same time, and click “LaserScan ” under “By topic” to add a single-beam point cloud node. Set parameters In /src/lslidar_n301/lslidar_n301_decoder/launch/lslidar_n301.launch file, you can set the IP port, the GPS switch and maximum and minimum distance...
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Page 32: Lidar Care
User Manual 7 LiDAR Care 7.1 Transportation LSLiDAR has customized the package for the N401-P series to withstand a certain amount of vibration and impact. Special packages must be used for long- distance transportation to avoid irreversible damage during transportation. -
Page 33: Revision History
User Manual Revision History Rev. Release Date Revised Content Issued/Revised By V5.0.0 2022-04-06 Initial version LS1453 Modify specifications, lidar base connector, electrical parameters, V5.0.1 2022-05-31 LS1286 light spot calculation formula; delete the 1.2.3 reflector positioning;... - Page 34 French Office 60 Rue Saint Antoine 75004 Paris, France TEL: 0033-(0)749044832 Eric Chen Sales Email: sales@lslidar.com After-Sales Mailbox: support@lslidar.com Company Website: www.lslidar.com *This product information is subject to change without notice. Copyright ©2022 LeiShen Intelligent System Co., Ltd. Allrights reserved.
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