Benewake AD2-S-X3 User Manual

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AD2-S-X3 User Manual

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Page 1 AD2-S-X3 User Manual...
Page 2 3rd Floor, Haiguo Jiaye Sci-Tech Park, Haidian District, Beijing, China Copyright Notice This User Manual is copyright © of Benewake. Please do not modify, delete or translate the description of this manual contents without the official written permission from Benewake.
Page 3: Table Of Contents
Contents 1 Product Overview ........................ 1 1.1 Product introduction ......................1 1.2 Working principle ........................ 1 1.3 Specifications ........................2 1.4 Structural Appearance ...................... 3 1.5 Coordinates System and Field of View Distribution .............4 2 Device Installation ......................6 2.1 Equipment size ........................6 2.2 Mechanical installation .....................
Page 4  To reduce the risk of electric shock and avoid violating the warranty, please do not disassemble or modify the sensor without official authorization from Benewake, or make changes with the device software. If there is a problem with the product, please contact Benewake staff for maintenance or related technical support.
Page 5 If you need to obtain the mechanical shock and vibration performance parameters of this product, please contact Benewake staff for technical support. Explosiveness and other air conditions  Do not place or store this product near flammable and explosive materials.
Page 6 Once the product encounters a drop or impact, you should stop using it immediately. Please contact Benewake staff in time to obtain relevant technical support.  This product contains high-speed rotating parts. Please do not operate it without tightening the casing.
Page 7  Please use the connection cable and power adapter provided by Benewake to power the device. If you need to use other connection cables, please use cables that meet the power supply requirements of this product and comply with relevant safety standards.
Page 8: Product Overview
The two-dimensional scanning system and array transceiver design adopted by AD2-S-X3 support the continuous upgrade and iteration of product performance, and also meet the needs of intelligent driving systems for continuous optimization and upgrade of perception capabilities. The ultra-...
Page 9: Specifications
Figure. 1: Schematic diagram of scanning mechanism 1.3 Specifications Performance parameters Detection range 200m@10% reflectivity Blind zone ① ≤0.5m Field of view (H x V) 120° x 25.6° Angular resolution (H x V) 0.2° x 0.1° ROI field of view (H x V) 120 °...
Page 10: Structural Appearance
1.4 Structural Appearance AD2-S-X3 uses aluminum alloy enclosure and a curved glass window at the front. The overall appearance of the LiDAR is as shown in the figure below: © 20 2 4 Be n e w a k e (B e i j i n g ) Co . , L t d . · A l l ri g h t s re s e r v e d · R E V : 0 2 /0 4 /2 0 2 4...
Page 11: Coordinates System And Field Of View Distribution
1.5 Coordinates System and Field of View Distribution 1. Device coordinate system The coordinate system of AD2-S-X3 is shown in the figure below. The positive direction of the X-axis is the direction of the LiDAR window glass, the positive direction of the Z-axis is perpendicular to the bottom surface and upward, and the positive direction of the Y-axis is parallel to the direction of the rear housing of the device;...
Page 12 2. Horizontal field of view distribution The horizontal field of view of AD2-S-X3 is 120°, with the positive X-axis direction as the center line, and the left and right sides are 60°. The horizontal field of view angle distribution is shown in the figure below: Figure.
Page 13: Device Installation
2 Device Installation This section introduces the device size, mechanical installation, converter box (optional), connection and other information of AD2-S-X3 LiDAR. 2.1 Equipment size Figure. 7: Top view (left) & bottom view (right) of the sensor (unit: mm) Figure. 1Front view (left) & side view (right) of the equipment (unit: mm)
Page 14: Mechanical Installation
2.2 Mechanical installation AD2-S-X3 has three M6 installation holes reserved, as shown in the red circle of the following figure. You can fix the sensor on the working platform through the reserved holes. Figure. 9: Diagram of AD2-S-X3 sensor installation hole locations Precautions: ...
Page 15: Connector
Table. 1Adapter box interface description table Interface name Specification Definition Power supply DC Jack 2.5mm 12V power supply interface Gigabit Ethernet RJ45 Device data transfer network interface Vehicle Ethernet Board connector: Device data transfer data interface 2304372-1 LiDAR power and Board connector: Connect LiDAR signal...
Page 16: Connector Plugging And Unplugging
2.4.2 Connector plugging and unplugging  Plugging: After powering off, insert the red pin on the cable end into the connector lock on the LiDAR end. When you hear a click, the connection is successful.  Unplugging: After powering off, slightly pull up the red safety pin, and then press the black bayonet to pull out the wire end connector.
Page 17 Figure. 6LiDAR connection diagram © 20 2 4 Be n e w a k e (B e i j i n g ) Co . , L t d . · A l l ri g h t s re s e r v e d · R E V : 0 2 /0 4 /2 0 2 4...
Page 18: Sensor Usage
Before receiving data, please check whether the IP address of the computer you are using is in the same network segment as the device; if not, the computer IP needs to be configured. Users can use the Benewake LiDAR Viewer debugging software to record and play back point cloud data. This debugging software has a total of two methods for device connection: 1.
Page 19: Parsing Protocol
Figure. 15: Connecting device to GUI software If you want to know more about how to use the Benewake LiDAR Viewer debugging software, you can contact Benewake technical team to obtain the usage instructions of the software. 3.2 Parsing protocol The LiDAR sensor and the debugging computer communicate through Ethernet.
Page 20 Number Offset Field of bytes Value Description (Bytes) (Bytes) "BW" Start tag, fixed value Product 0x01: AD2-S-X3 Product version Identifier 0x00: Protocol Data transfer Protocol type Identifier protocol MDOP Protocol Version 0x0001 Protocol version Packet count value ...
Page 21 0x01: Strongest echo 0x02: Last echo 0x03: Double Echo: Strongest + Last 0x04: Double echo: First + Last 0x05: Double Echo: First + Strongest Non-0xFFFF: Horizontal direction The effective center point angle of Center (X direction) ROI the ROI area in the horizontal Coordinate of area center point direction (X direction) is rounded...
Page 22  For one UDP transmission, for spherical coordinates, a single echo can transmit up to 12 luminous data (points <= 12) each time; a double echo can transmit up to 6 luminous data (points <= 6) each time.  If the points are less than the maximum number of times of light emission that can be transmitted, the remaining payload is filled with 0.
Page 23 ch16_distance Channel 16 distance; accuracy: 1cm ch16_Intensity Channel 16 reflectivity The lower 2-bits are used as confidence, the ch16_reserved other bits are reserved c) MDOP frame tail Frame-tail contains 6 Bytes in total, see the table below for details: Offset Number Field Value...
Page 24: Device Command Protocol (Dcsp)
3.2.2 Device Command Protocol (DCSP) Description:  Device Command Protocol: DCSP stands for Device Command Set Protocol.  Mainly responsible for transmitting different functional instructions (commands) to the LiDAR sensor and enabling it to execute the response protocol. The length of the whole frame is variable, the frame header is fixed to 10 Bytes, the payload length is variable, and the frame tail is fixed to 6 Bytes.
Page 25 DCSP protocol type, etc.; the detailed structure is shown in the following table: Offset Length Field Value Description [Bytes] [Bytes] "BW" Start tag, fixed value Product Identifier 0x01: AD2-S-X3 Product version 0x02: DCSP request Protocol Identifier DCSP protocol type 0x03: DCSP response DCSP protocol version Protocol Version 0x0000...
Page 26 Mainly responsible for transmitting information that the device responds to instructions sent by the computer. There are two types of responses. See the table below for details: Response payload—positive response Offset Field Bytes Description (Bytes) Response command Response opcode: corresponds response request Response command...
Page 27  Get Device Information: Offset Length Field Value Description (Bytes) (Bytes) Command ID 0x00 Get Device information request Data length 0x0000 Get Device information request data length  START/STOP Sampling: Offset Length Field Value Description (Bytes) (Bytes) Command ID 0 0x02 START/STOP sampling request Data length 1...
Page 28 length 0x00: sync source 0x01: PTP (1588V2) Timestamp 0x02: NTP format 0x03: GPS+PPS 0x04: PPS 0x05: gPTP  Get LiDAR Mode: Offset Field Length (Bytes) Value Description (Bytes) Command ID 0 0x0C Get LiDAR mode request Data length 1 0x0000 Get LiDAR mode request data length ...
Page 29: Device Status Protocol (Dsop)
Bit0-First package Bit1-last package Remarks: Transfer mark Transfer flag 3 bit1: When bit0 is 01, it is the first package bit1: When bit0 is 10, it is the last package The total length of the Sum bytes of firmware Bin file Send download packet Package count...
Page 30 Length Field Value Description (Bytes) (Bytes) Start mark, fixed value, 'B' is sent "BW" first, then 'W' Product Identifier 0x01: AD2-S-X3 Product version Protocol Identifier 0x01: DSOP Protocol type Protocol Version 0x0000 Protocol version Device SN number DCSP_port Protocol port number...
Page 31 interval 100ms functional_safety_info Functional safety information c) DSOP frame tail There are 6 Bytes in total, see the table below for details: Offset Length Field Description Field (Bytes) (Bytes) HEADER PAYLOAD Checksum verification End flag 0x00 0xFF End tag, fixed value ©...
Page 32: Sensor Maintenance
4 Sensor Maintenance This section introduces the device storage, transportation, cleaning and other information of AD2-S-X3 LiDAR. 4.1 Device storage  It is recommended to use the original packaging provided by Benewake for storage.  Please store the sensor in an environment of -40 ℃ ~ +105℃, relative humidity ≤...
Page 33 © 20 2 4 Be n e w a k e (B e i j i n g ) Co . , L t d . · A l l ri g h t s re s e r v e d · R E V : 0 2 /0 4 /2 0 2 4...
Page 34: Trouble Shooting
5 Trouble Shooting This section introduces the common problems and countermeasures of AD2- S-X3 LiDAR. Table. 2: Frequently Asked Questions and Answers Serial Question Answers number  Check whether the power supply voltage is normal  Check whether the connector is connected properly ...
Page 35: Contact Us
Email: bw@benewake.com Address: Benewake (Beijing) Co., Ltd. (Headquarter) 3rd Floor, Haiguo Jiaye Sci-Tech Park, Haidian District, Beijing, China © 20 2 4 Be n e w a k e (B e i j i n g ) Co . , L t d . · A l l ri g h t s re s e r v e d · R E V : 0 2 /0 4 /2 0 2 4...