Related Manuals for LSLIDAR HS1
Summary of Contents for LSLIDAR HS1
- Page 1 User Manual V1.0.5 2023.03 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.
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Page 4: Table Of Contents
TABLE OF CONTENTS 1. PRODUCT PROFILE ..................1 1.1 O VERVIEW ......................1 1.2 M ECHANISM ...................... 1 1.3 S PECIFICATIONS ....................1 1.4 D IMENSIONS ...................... 2 2. ELECTRICAL INTERFACE ................4 2.1 P OWER UPPLY ....................4 2.2 W IRING EFINITION ................... - Page 5 5.3.2 Configuration Package Example ..............26 6. TIME SYNCHRONIZATION ................27 6.1 GPS S YNCHRONIZATION .................. 27 6.2 E XTERNAL YNCHRONIZATION ................. 28 6.3 L IDAR NTERNAL IMING .................. 29 7. ANGLE AND COORDINATE CALCULATION ..........29 7.1 V ERTICAL NGLE ....................
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Page 6: Product Profile
1.2 Mechanism The HS1 lidar adopts the Time of Flight (ToF) 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: Dimensions
There are 2 kinds of HS1 lidar for you to choose from according to actual needs. Figure 1.2 is the dimension drawing of HS1 lidar whose cable interface is on its back;... - Page 8 Figure 1.2 HS1 Lidar Mechanical Drawing (Cable Interface on the Back) Figure 1.3 HS1 Lidar Mechanical Drawing (Cable Interface on the Side) The HS1 lidar utilizes mirror rotation to scan 120° horizontally. Figure 1.4 shows the appearance of the HS1 lidar while Figure 1.5 shows the optical center...
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Page 9: Electrical Interface
Figure 1.4 External View of HS1 Figure 1.5 Optical Center of the HS1 Lidar 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 or 24 V. Please note... -
Page 10: Wiring Definition
2.2 Wiring Definition The cables connecting to the interfaces on the side of the HS1 lidar base are a 12-pin cable and an 8-pin shielded cable, whose wiring definitions are as shown in the figures below. -
Page 11: Get Ready
Table 2.1 The 8-Pin Cable Wiring Definition Color Definition Description Black Power GND Light Blue Power GND Yellow Orange GPS_GND Signal GND White GPS_PPS GPS inputting PPS signal Blue GPS_GPRMC GPS inputting GPRMC signal Light Orange Power+ Power+ Table 2.2 The 12-Pin Automotive Ethernet Cable Wiring Definition Cable Color and Specification Definition Description... -
Page 12: Software Preparation
Figure 3.1 Connecting the Lidar 3.2 Software Preparation The HS1 lidar can be operated under both Windows operating system and Linux operating system. Software needed is as follows: Wireshark: to capture the ARP (Address Resolution Protocol) packets. Note: Wireshark is a third-party software, and you may need to download it by yourself. -
Page 13: Usage Guide
To use the LSHS1 Windows Client, it is necessary to install the WinPcap third- party library. This software has also been pre-stored in the USB flash drive provided with the lidar. To install the WinPcap software, please follow the following steps: Step 1. -
Page 14: Lshs1 Windows Client Interface
The lidar IP range are forbidden to be set to 1) Class D IP address (multicast address: i.e. 224.0.0.0~ 239.255.255.255) 2) Class E IP address (reserved address: i.e. 240.0.0.0~ 255.255.255.254) 3) Broadcast address (i.e. 255.255.255.255 and xx.x.255 for each network segment) 4) Special class IP address (0.x.xx and 127.xxx) The lidar destination IP are... - Page 15 Figure 4.2 Initial Interface Note: To view the software version, click “Help->About” in the toolbar. Point cloud display interface supports the following operations: 1) Zoom in/out the display interface with the mouse wheel; hold the right mouse button and drag it up/down to zoom in/out; 2) Hold the left mouse button and drag it to adjust the angle of view;...
- Page 16 Clear screen Show/hide coordinate Show/hide the column on the left Three-view option: set the observation angle from top, front, and left. Note: In the point cloud display area, with 20 circles and 40*40 grids, the radius of every two adjacent circles differs by 10 m. The difference between each two grids (horizontal or longitudinal) is 10 m.
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Page 17: Operation Procedure
The upper part of the form shows the lidar configuration. The parameters include local IP, destination IP, subnet mask, gateway, data port, device port, and motor speed setting (different speed can be selected under combobox), whether to obtain the local time, Mac address information, Open lidar parameter and device packet sending interval. -
Page 18: Point Cloud Data Parsing
Figure 4.3 Real-Time Lidar Point Cloud Display 4.1.4 Point Cloud Data Parsing 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 microsecond timestamp information of each laser; Step 2. -
Page 19: 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 HS1 lidar can be modified through user configuration, and the lidar sends data to the host computer through the preset destination IP and port. - Page 20 Figure 4.5 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. Figure 4.6 IP Address and Subnet Mask Setting 4) Since the LS Windows Client needs to obtain a large number of data packets...
- Page 21 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.
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Page 22: 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 23: Software Operation Example
Step 4. Open the terminal: ping the lidar IP, and test whether the hardware is connected normally. If the ping is successful, then the data is received, otherwise 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... -
Page 24: Communication Protocol
Reopen a terminal again and execute the following command: rosrun rviz rviz Note 1): If the lidar destination port and motor speed are modified, please open “lslidar_ch.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. -
Page 25: Msop Protocol
9 bytes of additional information (including 3 reserved bytes, 4 bytes of Timestamp and 2 bytes of Factory). 5.1.1 Format The HS1 lidar supports single echo mode which measures the most recent echo value. Each MSOP data packet contains 1206 bytes of data. Each packet of data contains 171 points, that is, 171*7=1197 bytes, and the frame tail is 9 bytes (including 3 reserved bytes, 4 bytes of Timestamp and 2 bytes of Factory). -
Page 26: Data Package Parameter Description
mark can be anywhere in a packet of data, not necessarily the packet header. This point is not displayed as point cloud data, but is only a judgment mark for the beginning of an image frame. 5.1.2 Data Package Parameter Description Ethernet Header The Ethernet header has a total of 42 bytes, as shown in the table below. - Page 27 example, 0x11AD=4525, that is 45.25°. Byte 4, Byte 5, and Byte 6 represent the distance value, the most significant value in the sequence is stored first, at the lowest storage address while the least significant value is stored at the highest storage address. The two most significant bits are the integer part, whose unit is “cm”;...
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Page 28: Difop Protocol
0x2 represents dual echo lidar Factory Vendor 0x1 represents the HS1 lidar Information 1) When there is a GPS device inputting PPS signal to the lidar, the timestamp is generated according to the PPS time as the cycle time, and the range of the timestamp is 0-999,999 (μs);... -
Page 29: Ucwp Protocol
Length (0x04BE, represents 1214 UDP Length bytes) & Sum Check Sum Check Payload: 1206 bytes Name Information Offset Length (byte) Header Device Package Identification Header Motor Speed Ethernet Configuration GPS Time Data Lidar Rotation / Stationary High Temperature Pause Sign Device Flow Packet Interval Latitude and Longitude Tail... -
Page 30: Configuration Parameters And Status Description
2368) Length (0x04BE, represent 1214 UDP Length bytes) & Sum Check Sum Check Payload: 1206 bytes Name Information Offset Length (byte) Configuration Package Identification Header Header Motor Speed Ethernet Configuration Data Lidar Rotation / Stationary Configuration Flow Packet Interval Tail Frame Tail 1204 5.3.1 Configuration Parameters and Status Description... -
Page 31: Configuration Package Example
synchronizes with GPS. If there is no GPS timing, UTC is all 0s. The GPS baud rate supported by the lidar is 9600. There are 8 data bits, 1 stop bit and no parity bit. UTC (6 bytes Read Only) Byte1 Byte2 Byte3... -
Page 32: Time Synchronization
according to the definition of the UCWP Packet and each register, it can be reconfigured as follows: Table 5.4 Configuration Package Example Length Info Content Config (byte) Header 0xAA,0x00,0xFF,0x11,0x22,0x22,0xAA,0xAA Motor Speed 80 Hz 0x04,0xB0 Lidar IP 192.168.1.105 0xC0,0xA8,0x01,0x69 (IP_SRC) Computer IP 192.168.1.225 0xC0,0xA8,0x01,0xE1 (IP_DEST) -
Page 33: External Synchronization
height of the GPS/inertial measurement system. The default serial configuration baud rate of the GPS data output received by the lidar is 9600, 8N1. The PPS high pulse width is required to be more than 40 The standard format of GPRMC information is as follows: $GPRMC, <1>, <2>, <3>, <4>, <5>, <6>, <7>, <8>, <9>, <10>, <11>, <12>... -
Page 34: Lidar Internal Timing
receives the rising edge trigger, and the PPS high pulse width is required to be more than 40 ns. 6.3 Lidar Internal Timing When there is no GPS and other equipment to synchronize, the lidar uses 1 hour (3600*10 μs) as the cycle. With the microsecond as the timing unit, the timing value is output as the timestamp of the data packet. -
Page 35: Cartesian Coordinate Representation
The timestamp and UTC come from the same synchronization source, such as a GPS. The laser emission interval of the HS1 lidar is about 13.2 μs, and the measurement interval of adjacent points is 13.2 μs. A data packet has a total of 171 measurement data. The packet packing time is... -
Page 36: Calculation Of Data Packet End Time
171 points. Each data packet block of the HS1 lidar contains 171 measurement data. Therefore, the end time interval of each data packet (single echo mode) is 2250 μs. -
Page 37: Appendix B: Troubleshooting
Dirt Treatment If the mask is dirty during use, such as with fingerprints, muddy water, dry leaves or insect corpses, etc., the lidar’s ranging effect will be directly affected. Please clean it according to the following steps: Tools: PVC gloves, clean cloth, absolute ethanol (99%) Environment: ventilated and dry, away from fire (1) Put on PVC gloves and fix the lidar base with your fingers;... - Page 38 ⚫ data port and device port in the host computer are set correctly ⚫ lidar port is not occupied by another process ⚫ WinPcap plugin is installed ⚫ re-power the lidar to see if the fault disappears Confirm: ⚫ lidar housing is clean and free of stains ⚫...
- Page 39 Revision History Rev. Release Date Revised Content Issued/Revised By V1.0.0 2022-04-27 Initial Version LS1286 12-pin cable wiring V1.0.1 2022-07-20 LS1286 definition modified Data Format of the V1.0.2 2022-10-11 LS1286 Device Package modified Specifications updated; V1.0.3 2022-12-16 LS1286 lidar IP range added V1.0.4 2023-02-03 Specifications updated...
- Page 40 Make Safer Driving Smarter Machine and Better Life ! Official Website: https:/ /www.lslidar.com Sales: sales@lslidar.com After-Sales: support@lslidar.com...
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