LSLIDAR C32 User Manual
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LSLIDAR C32 User Manual

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C32
USER MANUAL
V4.0.9
2022.12
LeiShen Intelligent System Co., LTD
http:/ /www.lslidar.com/

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  • Page 1 USER MANUAL V4.0.9 2022.12 LeiShen Intelligent System Co., LTD http:/ /www.lslidar.com/...
  • Page 2 Safety Instruction Before using the product, please read and follow the instructions of this manual carefully, and refer to relevant national and international safety regulations. ∆Attention Please do not disassemble or modify the lidar privately. If you need special instructions, please consult our technical support staff. ∆Laser Safety Level The laser safety of this product meets the following standards: ●...
  • Page 3 the power supply requirements, or supply power in a humid environment may cause abnormal operation, fire, personal injury, product damage, or other property loss. Light Interference Some precise optical equipment may be interfered with by the laser emitted by this product, please pay attention when using it. Vibration Please avoid product damage caused by strong vibration.

  • Page 4: Table Of Contents

    Table of Contents 1. PRODUCT PROFILE ....................1 1.1 O ........................ 1 VERVIEW 1.2 M ......................1 ECHANISM 1.3 S ......................1 PECIFICATIONS 1.4 M ..................2 ECHANICAL TRUCTURE 1.5 L ....................... 4 IGHT 2. ELECTRICAL INTERFACE ..................5 2.1 P ......................
  • Page 5 5.3 UCWP P ....................29 ROTOCOL 5.3.1 Configuration Parameters and Status Description ....... 30 5.3.2 Configuration Package Example ............... 31 6. TIME SYNCHRONIZATION ................... 32 6.1 GPS S ..................32 YNCHRONIZATION 6.2 E ................34 XTERNAL YNCHRONIZATION PTP S ..................34 YNCHRONIZATION 6.4 L ..................

  • Page 6: Product Profile

    1.2 Mechanism The C32 mechanical lidar adopts the Time of Flight method. The lidar starts timing (t1) when the laser pulses are sent out. And when the laser encounters the target object and the light returns to the sensor unit, the receiving end stops timing (t2).

  • Page 7: Mechanical Structure

    For example: 1.4 Mechanical Structure The C32 lidar is equipped with 32 pairs of laser transmitter and receiver modules. Its motor is driven at a rotation speed of 5 Hz/10 Hz/20 Hz to cover a 360° scan range.
  • Page 8 (It can be changed to the opposite of the cable connector in the Windows Client software.) When the laser beams pass through the position of the cable connector, the azimuth angle of the corresponding data block in the output UDP packet is 0°. Figure 1.4 C32 Dimensions...

  • Page 9: Light Spot

    Figure 1.6 C32 Mechanical Drawing (unit: mm) 1.5 Light Spot The light spot of C32 lidar is a vertical oval. Its vertical divergence angle is 8.7 mrad, and the horizontal divergence angle is 5.7 mrad. The spot size at any distance can be calculated by multiplying the divergence angle by the distance.

  • Page 10: Electrical Interface

    Figure 1.7 Light Spot Demonstration 2. Electrical Interface 2.1 Power Supply This lidar’s power input range is 9 V～36 VDC. If other DC power supply is adopted, the recommended output voltage is 12 V, 19 V, 24 V or 32 VDC. The output power should be ≥25 W (the lidar requires a large instantaneous current to start, and a small starting current may cause its failure to start normally).

  • Page 11: Connectors

    2.2 Connectors Male connector on the lidar base There is an 8-pin male connector on the side of the C32 lidar base, and the wires can be led out by using an extension cable with a female socket, an adapter cable or an interface box.
  • Page 12 There are three kinds of cables for you to choose to connect the lidar, see the details below. (1) Adapter Cable (Default) In order to facilitate wiring, LeiShen Intelligent provides an adapter cable. The cable and its wiring definition are as follows: Figure 2.2 Adapter Cable Figure 2.3 Wiring Definition of the Adapter Cable Table 2.3 Connectors Description of the Adapter Cable...
  • Page 13 Orange (24AWG) RD_P Ethernet RX+ Yellow (20AWG) GPS_PPS GPS Sync Pulse/External Sync Pulse White (20AWG) GPS_Rec latitude & longitude, hour/minute/second Black (20AWG) Power- (3) Interface Box (Optional) To facilitate the testing and connection of connectors, the C32 lidar can also be...
  • Page 14 equipped with an interface box, which is not a necessary accessory for lidar operation. On the interface box, there is a Φ5.5*2.1 mm DC socket, an indicator light, an RJ45 network port and a 6-pin GPS port, as shown in the figure below. Figure 2.5 Interface Box The GPS interface socket specification of the interface box is SM06B-SRSS-TB of JST, and the recommended plug interface for the external GPS module is SHR-...

  • Page 15: Get Ready

    3. Get Ready 3.1 Lidar Connection To get ready for the lidar operation, please connect the lidar to the computer as shown in figure 3.1. Figure 3.1 Connecting Lidar and Computer Note: Under any circumstances, it is forbidden to plug and unplug the aviation terminal with power on.

  • Page 16: Usage Guide

    fault detection can be realized through the client, too. ⚫ Software Acquisition This Windows Client has been pre-stored in the USB flash drive provided along with the lidar. It can also be obtained from the sales or technical support personnel. No installation is required to the Client. ⚫...

  • Page 17: Operation Under Windows Os

    4.1 Operation Under Windows OS 4.1.1 Lidar Configuration The default IP address and port number of the lidar network are as follows: Table 4.1 Default Lidar Network Configuration IP Address UDP Device Package Port UDP Data Package Port Number Number Lidar 192.168.1.200 2368 (Fixed) 2369 (Fixed)

  • Page 18: Windows Client Interface

    Figure 4.1 Wireshark Captures ARP Packet 4.1.2 Windows Client Interface The software interface includes menu area, tool bar area, 3D window area, data table area, etc. Figure 4.2 Windows Client Interface Note: To view the software version, click “Help->About” in the toolbar. The point cloud display interface supports the following operations: 1) Zoom in/out the display interface with the mouse wheel;...
  • Page 19 3) Hold the mouse wheel and drag it to pan the display interface; or hold the shift key on the keyboard and the left mouse button to pan the interface. Menu button function introduction ⚫ Lidar Menu Button Description Connect/disconnect lidar Clear screen Show/hide coordinate Three-view option: set the observation angle from...

  • Page 20: Operation Procedure

    Drag the progress bar or enter the frame number to skip to the specified position ⚫ Setup Menu Button Description The upper part of the form shows the lidar configuration. The parameters include local IP, destination IP, subnet mask, gateway, local port, destination port, motor...

  • Page 21: Parameter Config Example Of Lidar Network Communication Mode

    If you need to parse lidar data, please follow the steps below: Step 1. Parse the data package to obtain the relative horizontal angle, ranging information, intensity data and timestamp information of each laser; Step 2. Read the device package to obtain information such as the horizontal correction angle value, UTC (GPS or NTP time service) and the current configuration of the device;...
  • Page 22 Multicast The computer IP is the address of the multicast group. The default subnet mask is 0.0.0.0 and the default gateway is 0.0.0.0. No need to configure the subnet mask or the gateway. Broadcast Under the broadcast mode, the computer IP address is the broadcast address, and the lidar IP address and the computer IP address are in the same network segment.

  • Page 23: Note

    2) At the same time, since Qt is adopted in the low-level software development, please create English paths when naming files and path folders. 3) Since the port number of the C32 lidar can be modified through user configuration, and the lidar sends data to the host computer through the preset destination IP and port.
  • Page 24 in the pop-up Ethernet properties box, as shown in the figure below. Figure 4.4 Network Connections Step 3. In the TCP/IPv4 property settings, set the IP address to the lidar's destination IP (The default destination IP of the lidar is 192.168.1.102), and the subnet mask is set to 255.255.255.0.
  • Page 25 4) Since the Windows Client needs to obtain a large number of data packets through the network in a short time, it may be considered as a malicious program by the network firewall and be prohibited. Therefore, there may be situations in which the data packet has been sent to the computer by the Wireshark software, but the client cannot display it.

  • Page 26: Ros Driver Operation Under Linux Os

    and select “NVIDIA Control Panel”. Step 2. Select the “Manage 3D Settings” in the NVIDIA Control Panel interface. Step 3. Click the “Program Settings” button in the Manage 3D Settings interface. Step 4. Click the “Add” button on the Manage 3D Settings interface. Step 5.

  • Page 27: Software Operation Example

    check the hardware connection. Step 5. Use “sudo tcpdump -n -i eth0” (here eth0 is the name of the wired network device, see the device name of ifconfig wired connection display for details) to view the data packets sent by the lidar (as shown in the figure, there are 1206-byte data packets sent by the lidar to the destination, which means that the lidar data is sent normally).

  • Page 28: Communication Protocol

    Note 1): If the lidar destination port and motor speed are modified, please open “lslidar_c32.launch” to modify the configuration accordingly. The default data packet port is 2368, device packet port is 2369, IP address is 192.168.1.200. Note 2): If timeout appears, it means that the driver has no data reception. Please check the hardware connection.

  • Page 29: Msop Protocol

    (6 bytes of UTC, 4 bytes of Timestamp and 2 bytes of Factory). 5.1.1 Format The C32 lidar supports single and dual echo modes. Single echo mode measures the most recent echo value, and dual echo mode measures the most recent echo and the second recent echo value.

  • Page 30: Data Package Parameter Description

    second echo data; Block (3, 4) is the two echo data of the next set of 32 point cloud data, ..., and so on. Only one azimuth angle is returned for each parity data block pair. See the picture below: Figure 5.2 Data Format of the Dual Echo Mode 5.1.2 Data Package Parameter Description Ethernet Header...
  • Page 31 Data Block The measured data has a total of 1200 bytes, which is composed of 12 data blocks, and each data block is 100 bytes in length. A data block includes: ● 2 bytes 0xffee fixed value flag bit; ● 2 bytes Azimuth's relative horizontal angle information; ●...

  • Page 32: Difop Protocol

    0x20 Vendor information represents C32 lidar 1) When there is a GPS device inputting PPS signal to the lidar, the timestamp is generated with the PPS time as the cycle time, and the range of the timestamp is 0-999,999,999 (ns);...
  • Page 33 header, 1196-byte data and 2-byte frame tail. Figure 5.2 Data Format of the Device Package Ethernet Header: 42 bytes Length Name Information Offset (byte) Destination Ethernet II Source Ethernet Type Packet Type Version, Header Length, Differentiated Services, Field, Total Length, Internet Identification, Flags, Fragment Offset, Protocol...

  • Page 34: Ucwp Protocol

    Threshold Adjustment Value Input Voltage Value Input Current Value Length of Work Reserved 1095 Tail Frame Tail 1204 Header is the device packet identification header, which is fixed as 0xA5, 0xFF, 0x00, 0x5A, 0x11,0x11,0x55, 0x55, and the first 4 bytes can be used as the packet inspection sequence.

  • Page 35: Configuration Parameters And Status Description

    Motor Speed Ethernet Configuration 1 Ethernet Configuration 2 Lidar Rotation / Stationary Data Reserved Clock Source Selection PPS Alignment Horizontal Angle Value Reserved 1156 Tail Frame Tail 1204 Header is the configuration packet identification header, which is fixed as 0xAA, 0x00, 0xFF, 0x11,0x22, 0x22, 0xAA, 0xAA, and the first 4 bytes are used as the packet inspection sequence.

  • Page 36: Configuration Package Example

    0x0000 indicates that the lidar is rotating, and 0x0001 indicates that the lidar is stationary, and the default value of the lidar is rotating scan. Clock Source Selection Clock Source Selection (2 bytes) Byte1 Byte2 0 GPS 1 PTP (the unit of timestamp is ns); Function 0x0000 indicates GPS time service, 0x0001 indicates PTP time service PPS Alignment Horizontal Angle...

  • Page 37: Time Synchronization

    $GPRMC of the GPS as the UTC time (accurate to the second) output of the device package. There are two types of C32 lidar GPS_REC interface level protocols, namely TTL level standard and RS232 level standard; the GPS_REC interface specification...
  • Page 38 aspects, respectively: TTL level pin definition: Pin GPS_REC receives the standard serial port data of the TTL level output from GPS module; Pin GPS_PPS receives the positive TTL synchronous pulse signal output by the GPS module; RS232 pin definition: Pin GPS_REC receives the standard serial data of the R232 level output from the GPS module;...

  • Page 39: External Synchronization

    Indication positioning, D= difference, E=estimation, N=invalid data The C32 lidar is compatible with GPS interfaces of multiple data formats. The GPRMC data format only needs to meet the following two requirements: the data after the first comma separator is hour, minute and second information; the data after the ninth comma separator is date information.

  • Page 40: Lidar Internal Timing

    UTC time output information of the device package will be invalid. 7. Angle and Coordinate Calculation 7.1 Vertical Angle Each channel of the C32 lidar corresponds to a fixed vertical angle, see the table below. Table 7.1 C32 Vertical Angle (1° Uniform distribution) UDP Packet...

  • Page 41: Horizontal Angle

    7.2 Horizontal Angle The horizontal angle value of the data packet is a relative value. Because the transmitter of the C32 lidar is composed of multiple columns, the calculation of the absolute horizontal angle of each point requires interpolation. 7.2.1 Horizontal Angle Calculation of Single Echo Mode...

  • Page 42: Horizontal Angle Calculation Of Dual Echo Mode

    Figure 7.1 Single Echo Data Block Structure Take Channel 31 data of Block 3 as an example: 1) The vertical angle of the Channel 31 can be obtained from Table 7.1. 2) The horizontal angle of the starting channel of Block 3 is N3 degrees, which is the horizontal angle of Channel 0.
  • Page 43 31 channels need to be calculated by interpolation. The data block structure of the C32 lidar’s dual-echo packet is as follows: Figure 7.2 Dual Echo Data Block Structure Take the Channel 31 data of Block 3 as an example: 1) From the picture above, it is clear that Channel 31 is at the end of each data block and is the last channel to emit light.

  • Page 44: Cartesian Coordinate Representation

    mode is also consistent. 7.3 Cartesian Coordinate Representation Obtain the vertical angle “Vertical Angle”, the horizontal angle “Point Azimuth” and the distance parameter “Distance” of the corresponding point of the lidar and convert the angle and distance information in polar coordinates into x, y, and z coordinates in the right-hand Cartesian coordinate system.

  • Page 45: Judgment Of One Frame Of Data

    The timestamp and UTC time come from the same synchronization source, such as a GPS or PTP server. The light-emitting time interval of each channel of C32 lidar is 1562.5 ns. The data packet has 12 data blocks, and one data block contains 32-channel data.

  • Page 46: Accurate Time Calculation Of Channel Data

    8.3 End Time of Data Point Each data block of the C32 lidar contains 32-channel measurement data. Therefore, the end time interval of each data block (single echo mode) or each parity block pair (dual echo mode) is 50,000 ns. Assuming that the absolute time...

  • Page 47: Appendix A. Maintenance

    Storage Conditions The storage temperature of C32 series products is -40°C ~ 85°C. It is recommended to store the products in a ventilated and dry place where the temperature is 23±5°C, and the relative humidity is 30% ~ 70%. Do not store in environments where humidity, pH, etc.
  • Page 48 current to start, and a small starting current may cause its failure to start normally. When the temperature drops below zero, the motor will require greater input power within a certain period of time. The higher the power supply voltage and the stronger the discharge capacity, the more severe the impact on the lidar.
  • Page 49 recommended to supply power nearby with a 220VAC adapter to convert the power to 12VDC. This information is based on experience and is for reference only.
  • Page 50 Revision History Issued/Revised Rev. Release Date Revised Content V4.0.0 2022-05-16 Initial Version LS1286 Parameters modification; Power V4.0.1 2022-07-07 supply data and connectors LS1286 description modification; Adding lidar IP setting description; V4.0.2 2022-08-29 modifying Ethernet configuration of LS1286 UCWP V4.0.3 2022-09-13 Specifications modification LS1286 MSOP packet transmission interval...
  • Page 51 French Office 60 Rue Saint Antoine 75004 Paris, France TEL: 0033-(0)749044832 Eric Chen Sales Email: sales@lslidar.com After-Sales: support@lslidar.com; Company Website: www.lslidar.com *This product information is subject to change without notice. Copyright © 2022 LeiShen Intelligent System Co., Ltd. All rights reserved.

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