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GreenValley LiGrip H120 User Manual

Rotating handheld slam lidar system
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LiGrip H120
User Manual (Ver A.03).

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Summary of Contents for GreenValley LiGrip H120

  • Page 1 LiGrip H120 User Manual (Ver A.03).
  • Page 2 Manual revisions Revision date Revisions illustrate September 1, 2022 LiGrip H120 User Manual V3.0 September 30, 2022 Added content about the use of backpack kits July 4, 2023 LiGrip H120 User Manual (Ver A.03)
  • Page 3 Preface Manual Use This user manual describes the operation process of H120 from assembly, acquisition, solution, multi-engineering splicing and so on. Scope of Application This use applies to H120 products. Security Technology Tips Note: Please read carefully the places that need to be paid attention to when you operate.
  • Page 4 Your suggestions If you have any suggestions and comments on this manual, please contact us, your feedback information will greatly improve the quality of our manual.

  • Page 5: Table Of Contents

    Contents 01 H120 Overview ......................1 1.1 Product introduction ..................2 1.2 SLAM overview ....................3 1.3 Applicable environment ...................4 02 H120 Product Composition and Assembly ...............6 2.1 Product composition ..................7 2.2 Equipment assembly ..................8 2.2.1 H120 assembly ..................8 2.2.2 Backpack kit assembly ................10 03 Path Planning, Zoning, Control Point Planning ............14 3.1 Closed loop ....................
  • Page 6 5.1.5 Stop Collection ................... 32 5.1.6 Power down the device ............... 33 5.2 App-based ...................... 33 5.2.1 Register, login and bind to the device ..........34 5.2.2 Control acquisition ................35 5.2.3 Ground control points collection ............35 5.2.4 Stop Collection ................... 36 5.2.5 Power down the device ...............
  • Page 7 7.5.1 Viewing the Report ................60 7.5.2 Checking Closed Loop ................61 7.5.3 Loading Checkpoints ................62 08 Multi-Project Splicing .....................64 8.1 New splicing project ..................65 8.2 Establishing connections ................66 8.2.1 Establishing connections with absolute coordinates ......66 8.2.2 Relative coordinates establish a connection relationship ....68 8.3 Point cloud stitching ..................

  • Page 8: H120 Overview

    LiGrip H120 User Manual CHAPTER H120 Overview This section describes:  Product introduction  SLAM overview  Applicable environment...

  • Page 9: Product Introduction

    1.1 Product introduction The latest handheld laser 3D scanner that uses SLAM algorithms to work even where there is no GNSS signal, GreenValley International’s LiGrip H120. It can be widely used in topographic surveying and mapping, forestry survey, indoor and outdoor integrated surveying, earthwork surveying, façade surveying and mapping and other...

  • Page 10: Slam Overview

    LiGrip H120 User Manual Figure 1-5 Backpack kit 1.2 SLAM overview SLAM, Simultaneous Localization and Mapping, instant localization and map building. Starting from an unknown location in an unknown environment, locate its own position, attitude, and movement trajectory through sensor observation, and build a map according to its own location.

  • Page 11: Applicable Environment

    LiGrip H120 User Manual We recommend: if you need to attach color you need to stop the project within 15 minutes, without a camera you need to stop the project within 30 minutes, then Reopen a project to avoid problems caused by the accumulation of errors.
  • Page 12 LiGrip H120 User Manual Swaying Windy parks, leaves wooded areas flowers...

  • Page 13: H120 Product Composition And Assembly

    LiGrip H120 User Manual CHAPTER H120 Product Composition and Assembly  Product composition  Product assembly...

  • Page 14: Product Composition

    LiGrip H120 User Manual 2.1 Product composition 1. Handheld device host*1 Used for lidar, IMU, video files, GNSS data. 2. Handheld device battery case*1 It is used to store LiDAR, IMU, GNSS data, and send control instructions. 3. Back Strap*1 Easy to carry the battery compartment.

  • Page 15: Equipment Assembly

    LiGrip H120 User Manual 6. B58 battery*1 Used to power the entire device. 7. Laser scanner protective cover*1 Used to protect LiDAR equipment. 8. Battery charger*1 To charge the battery. 9. USB flash drive*1 The transferred data used for copying.
  • Page 16 LiGrip H120 User Manual Figure 2-2 The host power cable is connected to the handheld device console and the battery compartment (MAIN port) One section of the host power cable is connected to the handheld end, and one end is connected to the MAIN port of the battery box.

  • Page 17: Backpack Kit Assembly

    LiGrip H120 User Manual Figure 2-4 Assembly is complete 2.2.2 Backpack kit assembly (1) Backpack kit composition GNSS antenna The top screw is used to secure the handheld end The bottom screw is used to secure the battery compartment Figure 2-5 Backpack kit composition...
  • Page 18 LiGrip H120 User Manual Figure 2-6 Align the battery compartment with the bottom screw and tighten Figure 2-7: Disassembling the dot base...
  • Page 19 LiGrip H120 User Manual Figure 2-8 Fully withdraw the telescopic rod and tighten it The telescopic rod must be fully withdrawn, if it is not fully withdrawn, then the measurement is inaccurate. Figure 2-9 Hold the bottom to the top insert and tighten the screws...
  • Page 20 LiGrip H120 User Manual Figure 2-10 The GNSS cable is inserted into the GNSS port of the battery compartment Figure 2-11 Connect the power cable (MAIN port). When installing a backpack kit, it is best to have two people install it together to ensure the safety of the device.

  • Page 21: Path Planning, Zoning, Control Point Planning

    LiGrip H120 User Manual CHAPTER 03 Path Planning, Zoning, Control Point Planning  Path planning for outdoor scenes  Path planning for indoor scenes  Strip scene path planning  Mine path planning  Forestry path planning  Regional division...

  • Page 22: Closed Loop

    LiGrip H120 User Manual Good path planning, zoning and control point planning are the keys to acquisition success. 3.1 Closed loop Closed-loop can greatly improve the reliability and accuracy of data, so when conditions permit, take a closed loop as much as possible.

  • Page 23: Outdoor Scene Path Planning

    LiGrip H120 User Manual Figure 3-3 The closed-loop distance is not enough Figure 3-4 Closed-loop area error 3.2 Outdoor scene path planning Closed-loop is an effective way to improve SLAM accuracy, so when conditions permit, try to take a closed loop, which can effectively reduce control points and improve accuracy.

  • Page 24: Indoor Scene Path Planning

    LiGrip H120 User Manual 3.3 Indoor scene path planning Indoor can walk a closed loop, try to walk a closed loop. Figure 3-6 Indoor path planning To collect multi-storey data, for example, if there are 5 floors in total, you can measure floors 1-3 and then floors 3-5 to ensure that there is at least one overlapping area on the first floor.

  • Page 25: Path Planning Of Mine Caves

    LiGrip H120 User Manual Note: Be careful with ribbon scenes! Never place control points on a straight line, be sure to measure control points on the left and right sides of the strip scene. 3.5 Path planning of mine caves If the path planning of the mine can be closed-loop, try to close the loop.

  • Page 26: Control Point Planning

    LiGrip H120 User Manual （3）There should be enough features within the overlapping areas; （4）If absolute coordinates are required, it is recommended to ensure 3 or more control points in the overlapping area. Figure 3-9 Area division 3.8 Control Point Planning In areas with good GNSS signals, the H120 backpack kit does not need to hit control points.
  • Page 27 LiGrip H120 User Manual Control points are strictly forbidden to be in a straight line The correspondence between density and accuracy of control points is as follows: The accuracy in Table 1 is for reference only, and here is only to highlight the difference in accuracy brought about by different control point densities and closed loops.

  • Page 28: Base Station Erection

    LiGrip H120 User Manual CHAPTER Base Station Erection Only the backpack kit requires a reference station. Third-party base stations can be used.  PPK base station assembly Base station assembly Base station setup Measuring height of the instrument Static recording Data transfer ...

  • Page 29: Setting Up Ppk Base Stations

    LiGrip H120 User Manual The base station can use any brand of GNSS equipment 4.1 Setting up PPK Base Stations 4.1.1 Base station assembly For more information on the use of base stations, please refer to the user manual of the base station.

  • Page 30: Measuring Height Of The Instrument

    LiGrip H120 User Manual The base station must be strictly centered, otherwise the data quality is unreliable. 4.1.3 Measuring height of the instrument Instrument height = height from the ground center point erected by the base station to the measurement marker. For example, the flag position measurement shown in the red box in Figure 4-3.

  • Page 31: Data Transfer

    GNSS receiver of each manufacturer to the common Rinex format (O file, P file). 4.2 Setting up a Virtual Base Station (Applicable in China) The virtual base station service is applicable in China by GreenValley, that is, pre- event base station. Set up the base station before the operation (setup on the APP), and stop data recording after the scanning.
  • Page 32 LiGrip H120 User Manual After stopping, the app will generate a base station record on the LiCloud backend. Figure 4-5 Virtual base station data download The status “Succeed” is displayed, indicating that the data was created successfully. Data can be downloaded from the web page and imported into the LiFuser-BP for use.

  • Page 33: Data Collection

    LiGrip H120 User Manual CHAPTER Data Collection  Data acquisition  Data collection considerations...

  • Page 34: Button-Based

    LiGrip H120 User Manual At present, it supports button-based data collection and supports APP data collection. And when using the button to collect, the APP can display the current equipment status, real-time point cloud, and the number of satellites. When using the APP to collect, it can also be operated with a button.
  • Page 35 LiGrip H120 User Manual Figure 5-1 Placed on the ground or platform The device battery compartment should be as close as possible to the handheld device host, otherwise the camera will not automatically start recording (2) Power up the device The battery is powered on after a short press of 1s and a long press of 2s.
  • Page 36 LiGrip H120 User Manual Figure 5-3 Turn on the camera (4) After the device is powered on The main unit button flashes rapidly, during which the camera takes a selfie (there will be a clicking sound) and the indicator light changes to a solid state. The whole process takes about 75S.

  • Page 37: Inertial Alignment (Backpack Kit)

    LiGrip H120 User Manual button light flashes quickly throughout the process. After the indicator flashes from fast to slow, the device is initialized. Figure 5-5 Press and hold the button for initialization Figure 5-6 The camera starts recording The camera starts recording video automatically, and there is no need to start recording manually, otherwise there will be color attachment disorder.

  • Page 38: Data Collection

    LiGrip H120 User Manual status of GNSS (APP interface will display the status of the satellite, the interface shows the satellite status is green √ that is, the normal state, if the device cannot receive satellite signals, the satellite status is red ×; When the number of satellites is greater than 20, slowly pick up the device, please walk a "8"...

  • Page 39: Stop Collection

    LiGrip H120 User Manual Figure 5-8 control points Keep it strictly still when you are packing, and do not gather people around. To have a flashing state, it means that the system has received the command to hit the dot, if the button is pressed, but not flashing, please press it again.

  • Page 40: Power Down The Device

    LiGrip H120 User Manual camera red button to stop the camera recording, the light continues to flash quickly and always on, and the data is saved. Figure 5-9 Stop the laser before stopping the recording camera If it is necessary to continue the collection at this time, proceed directly from section 5.1.1 (5).

  • Page 41: Register, Login And Bind To The Device

    Storage: More than 1GB (3) WIFI and password SSID: LiGrip-****, the last 4 bits are the last 4 bits of the device SN number Password: greenvalley 5.2.1 Register, login and bind to the device Refer to the GreenValley APP user manual...

  • Page 42: Control Acquisition

    LiGrip H120 User Manual 5.2.2 Control acquisition Click the Start Collection button at the bottom of the interface, fill in the basic project information on the "New Project" page, and submit. When the APP device status changes to "Collecting", when the APP voice prompts "The device is being collected", and the number of satellites is greater than 20, you can slowly pick up the device, circle 8, and start data collection according to the planned path.

  • Page 43: Stop Collection

    LiGrip H120 User Manual in some areas is not good, it is recommended to use the handheld mode for collection and dotting. Figure 5-11 GCP collection Coordinate acquisition of control points refer to Section 5.1.4. 5.2.4 Stop Collection ① Wrap around 8 in an open area in the same way as button-based step 5.1.2 (only wrap 8 is required for backpack kits).

  • Page 44: Power Down The Device

    Figure 5-12 Stop collecting and saving data 5.2.5 Power down the device Click the "shutdown" button on the control interface of the GreenValley APP, prompt "restart or shutdown", click "restart", at this time the LiGrip host will restart operation; Click "Shut down" and the LiGrip host will shut down.

  • Page 45: Precautions For Indoor Space Collection

    LiGrip H120 User Manual If you encounter a dead end, it is recommended that the handheld device not change its orientation, and take the instrument out with your backhand; Avoid periods of large crowds and vehicles when collecting. 5.3.2 Precautions for indoor space collection When collecting indoor space, please walk slowly and control the turning speed at 30 degrees per second;...

  • Page 46: Data Copy

    LiGrip H120 User Manual CHAPTER Data Copy  Cable-based copy of lidar data  APP-based copy of lidar data  Copy of camera files  Base station file copy...

  • Page 47: Cable Based Lidar Data Copy

    LiGrip H120 User Manual 6.1 Cable based lidar data copy The battery box is plugged into the battery to power on, the Reimer port end of the data transmission cable is connected to the LAN port above the battery box, and the network port end is connected to the computer.

  • Page 48: App-Based Copy Of Lidar Data

    LiGrip H120 User Manual 6.2 APP-based copy of lidar data First of all, insert a U disk on the USB port of the host of the device, click a project in the project list, and you will be prompted to copy the project to the U disk; You can also long press to select multiple projects and click "Copy"...

  • Page 49: Base Station File Copy

    LiGrip H120 User Manual Figure 6-4 Params.json records the name of the video recorded by the project Use a USB cable to connect to the computer, turn on the battery power, at this time the camera is in U disk mode, copy the corresponding video file. (Copy the mp4 starting with VID).

  • Page 50: Data Processing

    LiGrip H120 User Manual CHAPTER Data Processing  Data preparation  LiFuser-BP new project  Project processing  GCP adjustment  Data quality judgment...

  • Page 51: Data Preparation

    Camera data: the mp4 file corresponding to the bag package, no need to modify the suffix of mp4 to insv; Absolute world file of dot location (txt file). 7.2 LiFuser-BP New Project The H120 data processing uses the LiFuser-BP developed by GreenValley 7.2.1 Importing Original Data Tap New -> Backpack.

  • Page 52: Gnss Configuration

    Configure GNSS mobile station data and base station data (if no GNSS data is available, deselect "Process GNSS"). On the GNSS configuration page, you can flexibly select according to the base station mode in the LiGrip H120 data processing. 7.2.2.1 PPK Mode In GNSS mode, select Differential GNSS, select the .log file in the subproject file for...
  • Page 53 GNSS-related options. 7.2.2.2 Virtual Base Station Mode At present, the data processing of the LiGrip H120 virtual base station mode includes two methods: Green Soil Cloud Trace and RTCM3/GVRTCM3. （1）Green Soil Cloud Trace (batch processing is not supported at the...
  • Page 54 LiGrip H120 User Manual The main advantage of Green Soil Cloud Trace function: Users do not need to log in to the LiCloud platform. Users can directly use the LiFuser-BP software to download the virtual base station data and solve it. It features simplicity, ease of use, and efficiency.
  • Page 55 LiGrip H120 User Manual Figure 7-5 LiFuser-BP account login Figure 7 -6 Data processing by Green Soil Cloud Trace （2）RTCM3/GVRTCM3 RTCM3/GVRTCM3 refers to the downloaded data format of the virtual base station or the data format of other types of base stations.
  • Page 56 LiGrip H120 User Manual It is recommended to use Google Chrome to open the LiCloud platform (URL: https://licloud.lidar360.com/#/). Tap Green Soil Cloud Trace -> Virtual Base Station - > Result file -> Virtual base station file (.zip file)Tap it to download the .zip virtual base station file.

  • Page 57: Configuring Target Coordinate System

    LiGrip H120 User Manual Figure 7-9 Data processing of virtual base station for RTCM3/GVRTCM3 7.2.3 Configuring Target Coordinate System Select the target coordinate system required by the user (if no GNSS data is available, deselect "Target coordinate system"). Figure 7-10 Configuring the output coordinate system...

  • Page 58: Configuring The Name And Project Path To Save Files

    LiGrip H120 User Manual It is unnecessary to configure the target coordinate system when using the RTK mode for data processing. Since the target coordinate system has been set in advance when using RTK mode for data processing, the BP software can directly obtain the target coordinate system set during data collection.
  • Page 59 LiGrip H120 User Manual Figure 7-13 PPK processing (if GNSS data is available) Figure 7-14 SLAM processing (the upper progress bar indicates the point cloud data processing, the lower progress bar indicates the video data processing) Figure 7-15 Data processing completed...

  • Page 60: Gcp Adjustment

    LiGrip H120 User Manual After the data processing, you can view the point cloud data quality and point cloud coloring quality. The LiFuser-BP software supports regular measurement operations (length, area, volume, and density) and track segmentation display. In addition, it supports point cloud profile operations, point cloud registration, point cloud data cleaning, and other regular operations.

  • Page 61: Slam Processing -> Gcp

    LiGrip H120 User Manual Figure 7-17 Control point coordinate file 7.4.2 SLAM processing -> GCP In the SLAM processing interface, select the GCP button. The pairs interface appears. Figure 7-18 GCP adjustment 7.4.3 Loading the GCP Coordinate File (geotag.txt) Choose SLAM processing -> GCP -> Load points, to load the geotag.txt file.
  • Page 62 LiGrip H120 User Manual Figure 7-20 Opening geotag.txt in the folder Set the properties corresponding to the different columns after loading the geotag.txt file. Figure 7-21 Loading geotag.txt The software displays the field GCP location. You can check the validity.

  • Page 63: Importing The Coordinates Of Control Points

    LiGrip H120 User Manual Figure 7-22 Software displaying the geotag .txt distribution area of the field GCP Figure 7-23 Checking field GCP 7.4.4 Importing the Coordinates of Control Points Import control point coordinates. Supports the manual input and external input. The external import is mainly introduced.
  • Page 64 LiGrip H120 User Manual Figure 7-24 Loading reference point In the pop-up prompt box, select Yes to open the control point file (TXT or CSV format). Select the corresponding column properties in the dialog box and click "Apply". Note: X indicates east coordinate, and Y indicates north coordinate.

  • Page 65: App Gcp Transform

    LiGrip H120 User Manual Figure 7-26 Software automatically calculating the error of the control point and GCP position before adjustment 7.4.5 App GCP Transform After loading the control points, click App GCP Transform , to perform GCP adjustment. Figure 7-27 GCP adjustment After the GCP adjustment is completed, the error of the control point becomes 0, and the point cloud has absolute coordinates.
  • Page 66 LiGrip H120 User Manual Figure 7-28 GCP adjustment result If the adjustment is not satisfactory, or if the input is incorrect, you can use the GCP restore function to return to the state before the adjustment. Click Figure 7-29 Software restore project...

  • Page 67: Data Quality Judgment

    LiGrip H120 User Manual Figure 7-30 Software restoration project completed If the GCP adjustment is not satisfactory, or if the input is incorrect, you can use the GCP restore function to return to the state before the adjustment. 7.5 Data Quality Judgment 7.5.1 Viewing the Report...

  • Page 68: Checking Closed Loop

    LiGrip H120 User Manual Figure 7-32 Viewing PPK quality report 7.5.2 Checking Closed Loop If there is a closed-loop measurement, display point cloud by time. Check the layering phenomenon at the closed loop. Figure 7-33 Checking the closed loop...

  • Page 69: Loading Checkpoints

    LiGrip H120 User Manual 7.5.3 Loading Checkpoints Choose Registration -> Point pair to load the checkpoint. Figure 7-34 Loading checkpoints The checkpoint format should be the same as the control point format. Set the properties corresponding to the columns. Figure 7-35 Setting the column properties Check the differences between the checkpoints and the corresponding point cloud.
  • Page 70 LiGrip H120 User Manual Figure 7-39 Checkpoint accuracy by visual inspection To reflect the exact difference by a numerical value, choose Measurement -> Pick multi-point. Select the position of the corresponding checkpoint. Then add a column of properties in the list. Fill in the name of the point and save the 3D point.

  • Page 71: Multi-Project Splicing

    LiGrip H120 User Manual CHAPTER Multi-Project Splicing  Create a new stitching project  Establish a connection relationship  Point cloud stitching  Quality assessment...

  • Page 72: New Splicing Project

    LiGrip H120 User Manual It is impossible to measure the measured area in one go, so it is necessary to scan the area multiple times to obtain the data of the entire measurement area. Before multi- project stitching, you need to pay attention to the following: A 10%-20% overlap rate is guaranteed between each project.

  • Page 73: Establishing Connections

    LiGrip H120 User Manual Figure 8-3 Add the project that needs to be stitched Figure 8-4 Projects added Finally, click Done. 8.2 Establishing connections 8.2.1 Establishing connections with absolute coordinates At the beginning of the software, the connected (red box) is empty and the registered...
  • Page 74 LiGrip H120 User Manual Figure 8-5 No connection is established For example, Scan 001 establishes a connection relationship with Scan 002. Select Scan 001 from the Registration Window drop-down menu, then click the "<=" symbol to move Scan001 to Connected, and ensure that Scan 002 is selected in the Registration window.

  • Page 75: Relative Coordinates Establish A Connection Relationship

    LiGrip H120 User Manual Figure 8-8 Preview the point cloud Finally, click the "<=" symbol and move Scan 002 until connected. At this point, Scan001 establishes a connection with Scan 002, and the same goes for all other data operations until all data is moved to the connection.
  • Page 76 LiGrip H120 User Manual Figure 8-9 The spatial relationship of the relative coordinate system is a bit out of order The steps to spell together are as follows: (1) Click Rotate to pan. Figure 8-10 Click Rotate/Translate (2) Adjust the direction of translation and the coordinate axis of rotation.

  • Page 77: Point Cloud Stitching

    LiGrip H120 User Manual Figure 8-12 Perspective Figure 8-13 After panning by rotation, see if they are together through the viewing angle (4) Click the matrix icon below the transformation. Figure 8-14 Applies the transformation At this point, the two point clouds are connected.
  • Page 78 LiGrip H120 User Manual Figure 8-16 Project setup For the significance of the maximum number of iterations, fitness score, and closed- loop distance, please refer to BP's instruction manual and FAQ document. Figure 8-17 Project setup In the output options, it is recommended to unfilter first (shown in the red box in Figure 8-18) so that we can easily view the splicing quality.

  • Page 79: Quality Assessment

    LiGrip H120 User Manual Click Global optimization Figure 8-19 Global optimization Figure 8-20 Global optimization Figure 8-21 Stitching completed 8.4 Quality assessment View the layering of point clouds, the layering of common areas between multiple sorties. For other accuracy measures, see Section 7.5, "Data Quality Judgment".

  • Page 80: Re-Output

    LiGrip H120 User Manual 8.5 Re-Output Finally, click Project Settings -> Output -> check the filter option, and then re-output. Figure 8-22 Re-output...

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