Cygbot CygLiDAR D2 User Manual
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Cygbot CygLiDAR D2 User Manual

2d/3d dual
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Ver 0.2.2
2D/3D Dual CygLiDAR
CygLiDAR
D2
User Manual

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Summary of Contents for Cygbot CygLiDAR D2

  • Page 1 Ver 0.2.2 2D/3D Dual CygLiDAR CygLiDAR User Manual...

  • Page 2: Table Of Contents

    Ver 0.2.2 Table of Contents Introduction ToF (Time of Flight) Solid State 2D / 3D Dual Specification Component Hardware Design How to Use Serial Communication UART PINMAP Packet Structure Checksum Packet Verification & Install CygLiDAR Viewer CygLiDAR ROS Driver Revision history...

  • Page 3: Introduction

    Ver 0.2.2 1. Introduction ToF (Time of Flight) CygLiDAR measures distance by light round trip time (ToF). ToF emits a pulse signal at the light emitter and measures the phase change of the signal reflected by the object. This is the Phase shift method that measures time and calculates distance.

  • Page 4: Specification

    Ver 0.2.2 2. Specification Range affected by reflectivity 2D : 200mm ~ 7,000mm Detection range 3D : 50mm ~ 2,000mm (*DRM) Distance accuracy ±1% 2D : 0.75° (Angle) Resolution (Measure in mm) 3D : 160 x 60 (Pixel) 2D/3D Horizontal : 120° FOV : Field of View 3D Vertical : 65°...

  • Page 5: Component

    Ver 0.2.2 3. Component USB to UART CygLiDAR Connector 5pin USB Cable Converter * Components other than CygLiDAR D2 are provided separately and may differ from the image above. 4. Hardware Design FOV definition 120° 65°...

  • Page 6: How To Use

    Ver 0.2.2 5. How to Use This is the tool you need to get your Lidar working. USB to UART PC or CygLiDAR Connector 5pin USB Cable Converter Raspberry Pi Connect 1, 2, 3, 4 in order as shown below. Finally, connect 4 and 5 (PC or Raspberry Pi).

  • Page 7: Serial Communication

    Ver 0.2.2 6. Serial Communication UART Data Bit : 8 bit Parity : none Stop Bit : 1 bit Baud Rate : 3,000,000 bps PINMAP : +5V : UART TTL Rx : UART TTL Tx : GND GPIO : Reserved Packet structure Packet Payload...

  • Page 8: Packet

    Ver 0.2.2 6. Serial Communication Packet Request Overview Payload Supported Payload Response Request Name Header LiDAR Operation Firmware Length Packet Value Version Get the release versions of the Get Device Info 0x10 0.0.1 latest update to F/W and H/W. Get the ID set for the current Get Device ID 0x21 0.3.5...
  • Page 9 Ver 0.2.2 6. Serial Communication Get Device Info (0x10) 0x5A 0x77 0xFF 0x02 0x00 0x10 0x00 0x12 Request Packet Check 0x5A 0x77 0xFF 0x07 0x00 0x10 F/W 1 F/W 2 F/W 3 H/W 1 H/W 2 H/W 3 Response Packet [Example] F/W version = 0.0.1, H/W Version = 0.2.0 인...
  • Page 10 Ver 0.2.2 6. Serial Communication Run 2D Mode Request (0x01) 0x5A 0x77 0xFF 0x02 0x00 0x01 0x00 0x03 Request Packet Check … Response Packet 0x5A 0x77 0xFF 0x43 0x01 0x01 Time Time Temp Temp -60º -60º +60º +60º Light source : Laser, LED Error code list : 120º...
  • Page 11 Ver 0.2.2 6. Serial Communication 3D Data format DC159 DR0 DC0 DR0 DC2 1500mm 2000mm 1600mm 1800mm … & & (0x5DC) (0x7D0) (0x640) (0x708) DR59 DR0 DC0 DR0 DC1 DR0 DC1 DR0 DC2 DR0 DC3 DR0 DC3 DC159 4083mm … 0x5D 0xC7 0xD0 0x64 0x07...
  • Page 12 Ver 0.2.2 6. Serial Communication Run Dual Mode Request (0x07) 0x5A 0x77 0xFF 0x02 0x00 0x07 0x00 0x0A Request Packet Check … Response Packet 0x5A 0x77 0xFF 0x43 0x01 0x01 Time Time Temp Temp -60º -60º +60º +60º Check Response Packet 0x5A 0x77 0xFF 0x41 0x38 0x08 3D Distance Data...
  • Page 13 Ver 0.2.2 6. Serial Communication Stop (0x02) 0x5A 0x77 0xFF 0x02 0x00 0x02 0x00 0x00 Request Packet Change the status to Idle. When the status is in Idle, device does nothing. Set 3D Pulse Duration Request (0x0C) Check 0x5A 0x77 0xFF 0x03 0x00 0x0C Request Packet [Example]...
  • Page 14 Channel 2  0x02 You can change the frequency of the Light Source. When measuring the same space simultaneously with two or more CygLiDAR D2 devices, interference between light sources can occur, Channel 15  0x0F potentially causing errors in the measurement data.
  • Page 15 Ver 0.2.2 6. Serial Communication Set New Filtering (0x13) Check Request Packet 0x5A 0x77 0xFF 0x02 0x00 0x13 0x00 New Filter Setting Filter Mode None Median Filter Change the filter in 3D and Dual Modes. Average Filter Filter Mode supports None, Median Filter, and Average Filter. The default setting is None, and when the Filter Mode is changed, the selected filter is applied to the 3D Data.

  • Page 16: Verification & Install

    In case of not finding any port connected to the USB, download a driver from the following website: Window http://www.prolific.com.tw/US/ShowProduct.aspx?p_id=225&pcid=41 http://www.prolific.com.tw/US/ShowProduct.aspx?p_id=229&pcid=41 LINUX(Ubuntu) $ lsusb Bus 001 Device 005: ID 067b:2303 Prolific Technology, Inc. PL2303 Serial Port $ sudo modprobe usbserial vendor=0x067b product=0×2303 $dmesg 3. Download CygLiDAR Viewer https://www.cygbot.com/downloads 4. Install CygLiDAR Viewer...

  • Page 17: Cyglidar Viewer

    Ver 0.2.2 8. CygLiDAR Viewer Serial Port - Select a baud rate and a serial port to use. Device - Check on the release version of the latest update to CygLiDAR firmware and hardware. - Set up a 3D data and a display mode. Viewer Parameter (1) Color Scheme - Set a color scheme of the following scales: Hue, RGB or Gray (Image samples on...
  • Page 18 Ver 0.2.2 8. CygLiDAR Viewer Sensor Parameter (1) 3D Pulse Duration Control - Choose Auto and press Apply for a completion of Auto mode. - Choose Manual, put a preferable value for the duration to send and press Apply. (The duration is +0 to the minimum and +10000 to the maximum available to apply.) (2) Frequency Channel - Assign a channel restricted from +0 to +15 for light sources.
  • Page 19 Ver 0.2.2 8. CygLiDAR Viewer Example Baud Rate : 3,000,000 bps Serial Port : Choose an available port for CygLiDAR. After all sets up, press Connected button to turn on CygLiDAR. Display Mode : Select one of the following modes: Hue, RGB and Gray. After all sets up, press Receive button to turn on CygLiDAR.
  • Page 20 Ver 0.2.2 8. CygLiDAR Viewer 2D Data Mouse cursor: each distance at the particular angle prints out on the preview. Mouse wheel: the canvas image zooms in and out as above.
  • Page 21 Ver 0.2.2 8. CygLiDAR Viewer 3D Data Each of the measured distances per pixel determines a color to be visualized on both 2D and 3D plans, and the color range is dependent on the selected Color Scheme. 1) Flat Image - Moving a mouse cursor updates a distance at the coordinate.
  • Page 22 Ver 0.2.2 8. CygLiDAR Viewer 3D Amplitude Each of the measured distances per pixel determines a color to be visualized on 3D plans, and the color range is dependent on the selected Color Scheme. 1) Flat Image - Moving a mouse cursor updates a distance at the coordinate. 2) Point Cloud(Object) - Mouse Left button and mouse cursor changes the view from the viewpoint.

  • Page 23: Cyglidar Ros Driver

    Ver 0.2.2 9. CygLiDAR ROS Driver 1) Copy ROS Package URL from the following Git repository page: https://github.com/CygLiDAR-ROS/cyglidar_d2 2) Clone the remote repository to your local computer as below: $ git clone https://github.com/CygLiDAR-ROS/cyglidar_d2.git...

  • Page 24: Revision History

    Ver 0.2.2 10. Revision history Document Revision History Updated 31-Jan-24 0.1.0 - CygLiDAR D2 Manual Updated 01-Feb-24 0.1.1 - Specification - Correcting a typo Updated 27-Mar-24 0.2.1 - Specification Updated 04-Apr-24 0.2.2 - Specification...
  • Page 25 Cygbot products with provisions different from the information set forth herein shall void any warranty granted by Cygbot for such product. Cygbot and the Cygbot logo are trademarks of Cygbot . For additional information about Cygbot, please refer to www.cygbot.com. All other product or service names are the property of their respective owners.

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