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LSLIDAR LS128S2 User Manual

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LS128S2
User Manual
V1.0.10 2023.11
LeiShen Intelligent System Co., LTD
http://www.lslidar.com/

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Summary of Contents for LSLIDAR LS128S2

  • Page 1 LS128S2 User Manual V1.0.10 2023.11 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 D ............................2 IMENSIONS 2. ELECTRICAL INTERFACE ......................4 2.1 P ........................... 4 OWER UPPLY 2.2 W ..........................

  • Page 5: Product Profile

    1.2 Mechanism The LS128S2 lidar adopts the Time of Flight (ToF) method. The lidar starts timing ) 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 (t Distance = Speed of Light*(t –...

  • Page 6: Dimensions

    ≤1.5 kg (Lightweight Edition) 1.4 Dimensions There are 4 mounting holes and 2 positioning holes at the bottom of LS128S2 lidar. Four M4*8 (hexagon socket head cap screws) mechanical screws with spring washers and flat washers are needed for locking and fixing the lidar.
  • Page 7 The LS128S2 LiDAR achieves scanning of a horizontal 120° area by mirror rotation and a denser light distribution in the vertical direction by oscillator rotation. Figure 1.3 shows the appearance of the LS128S2. Figure 1.4 shows the position of its optical centre, which is also the coordinate origin of the point cloud display software.

  • Page 8: Electrical Interface

    2. Electrical Interface 2.1 Power Supply The power input range of the LS128S2 Lidar is 12V～36VDC. If other DC power supply is adopted, the recommended output voltage of the power supply is 19VDC or 24VDC. Please note that DC 12V and 36V are short-term power supply in extreme environment, which cannot be used as working voltage.
  • Page 9 The interface box of the lidar includes: an automotive ethernet port, an automotive power port, a 5.5*2.5 mm DC socket, an indicator light, a RJ45 network port and a 6-pin GPS port, as shown in Figure 2.3. Figure 2.3 Interface Box of LS128S2...
  • Page 10 LS128S2 The GPS socket of the Interface Box is the SM06B-SRSS-TB presented by the JST Company, and the recommended plug interface for the external GPS module is JST's SHR-06V-S-B. The interface definition of the GPS is here below: Table 2.4 The Pin Definition of the GPS...

  • Page 11: Get Ready

    Note: Please remove the protective film on the optical window before use. 3.2 Software Preparation The LS128S2 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.
  • Page 12 LS128S2 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. Insert the USB driver into computer port and open it. Step 2. Find the WinPcap installation file and double-click it to initiate the installation.

  • Page 13: Usage Guide

    LS128S2 4. Usage Guide This part states operation instructions of the Windows Client and ROS drive presented by the LeiShen Intelligent System Co. Ltd. 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...

  • Page 14: Windows Client Interface

    LS128S2 Figure 4.1 Wireshark captures APR packets 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 Initial Interface Note: To view the software version, click “Help->About” in the toolbar.
  • Page 15 LS128S2 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...

  • Page 16: Operation Procedure

    LS128S2 Skip to the beginning Click to start playing after the point cloud file is loaded When playing, click to pause Skip to the end Adjust the play speed of the offline point cloud file Drag the progress bar or enter the frame number to skip to a specified position ⚫...

  • Page 17: Point Cloud Data Parsing

    LS128S2 Step 2. When the power supply of the lidar is connected to the network cable, click to receive the lidar data in real time. Step 3. The data table contains ID, Points_m_XYZ, Distance, Azimuth, Intensity, in which ID is the lidar channel number; Points_m_XYZ are the coordinates;...
  • Page 18 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 LS128S2 lidar can be modified through user configuration, and the lidar sends data to the host computer through the preset destination IP and port.
  • Page 19 LS128S2 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. Figure 4.5 IP Address and Subnet Mask Setting...
  • Page 20 LS128S2 Firewall Settings, click to allow this program to pass through Windows Firewall, setting steps are as shown in the figures below: Step 1. In Control Panel -> System and Security -> Windows Defender Firewall, click “Allow an app or feature through the Windows Defender Firewall”.

  • Page 21: Ros Driver Operation Under Linux Os

    LS128S2 Step 5. Click the “Browse” button in the pop-up interface. Step 6. Find the application file (.exe file) of the software according to its installation path in the pop-up browsing interface. Step 7. Click “OK” to automatically return to the NVIDIA control panel, select the high-performance NVIDIA processor in the combo box of the preferred graphics processor for this program in Option -2., and click “Apply”...

  • Page 22: Software Operation Example

    LS128S2 are 1206-byte data packets sent by the lidar to the destination, which means that the lidar data is sent normally). sudo tcpdump -n -i eth0 Figure 4.8 Command Feedback 4.2.2 Software Operation Example Step 1. Establish a workspace and build a compilation environment...
  • Page 23 LS128S2 Note 2): If timeout appears, it means that the driver has no data reception. Please check the hardware connection. Note 3): If steps 1, 2, and 3 have been completed, next time after the “Displays Window” is reopened, start directly from step 4.

  • Page 24: Communication Protocol

    The data of the package adopts Big-Endian mode. The LS128S2 lidar supports single echo mode which measures the most recent echo value. The data package includes a 42-byte Ethernet header and a 1206-byte payload, with a total length of 1248 bytes.

  • Page 25: Data Package Parameter Description

    LS128S2 contains 149 points, that is, 149*8=1192 bytes, and the frame tail is 14 bytes (including 2 bytes reserved, 6 bytes of UTC, 4 bytes of Timestamp and 1 byte of datatype and 1 byte of hardware). See the table below:...
  • Page 26 LS128S2 The subframe is the effective data area of the data packet, which contains a total of 1192 bytes, including 149 points, that is, 149*8=1192 bytes. Take the first measure point as an example: Byte 1 and Byte 2 represent the horizontal angle. 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.

  • Page 27: Difop Protocol

    LS128S2 Figure 5.1 The Azimuth of the Lidar Additional Information The additional information is 14 bytes in length, including 2 bytes of package counter, 6 bytes of UTC Time or Unix Timestamp (unit: second), 4 bytes of Timestamp (unit: nanosecond), 1 byte of lidar model and 1 byte of echo mode.

  • Page 28: Ucwp Protocol

    LS128S2 2369) UDP Length Length (0x04BE, represents 1214 & Sum bytes) Check Sum Check Payload: 1206 Bytes Name Information Offset Length (byte) Header DIFOP Identification Header Reserved Ethernet (IP, MAC, Port, NTP) Ethernet (Gateway, Subnet Mask) Scanning Status Device Flow Packet Interval...
  • Page 29 LS128S2 The configuration packet includes a 42-byte Ethernet header and a 1206-byte payload, with a length of 1248 bytes. The payload is composed of an 8-byte Header, 1196-byte Data, and a 2-byte Tail. Header is the configuration packet identification header, which is fixed as 0xAA,0x00,0xFF,0x11,0x22,0x22,0xAA,0xAA, and the first 4 bytes can be used as the packet inspection sequence.

  • Page 30: Configuration Parameters And Status Description

    LS128S2 Reserved Reserved Reserved Frame Rate Reserved Phase Lock Switch Phase Lock Status Report Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Tail Tail 1204 5.3.1 Configuration Parameters and Status Description Here below are the configuration parameters and status description of specific lidar information.

  • Page 31: Configuration Package Example

    LS128S2 corresponding to the month hour year 2000~2255 Unix Timestamp (6 bytes Read Only) Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Function 0xff Timestamp Latitude and Longitude Latitude and Longitude 22 bytes Read Only) Byte1...
  • Page 32 LS128S2 completely. After the list is written, the corresponding function will be updated and take effect immediately.

  • Page 33: Time Synchronization

    $GPRMC of the GPS as the UTC output which is represented in both device packet and data packet. There are two types of LS128S2 lidar GPS_REC interface level protocols, namely TTL level standard and RS232 level standard; the GPS_REC interface specification on the power box is SM06B-SRSS-TB.

  • Page 34: Ptp/Gptp Synchronization

    LS128S2 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 1 The standard format of GPRMC information is as follows: $GPRMC,<1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>,<9>,<10>,<11>,<12>...
  • Page 35 LS128S2 Before synchronizing the lidar via PTP/gPTP, the time source needs to be set to “PTP” in the lidar's point cloud display software. The lidar can automatically identify PTP and gPTP packet types. The steps are as follows: open the point cloud display software, click on “Set Show”...

  • Page 36: Lidar Internal Timing

    LS128S2 6.3 Lidar Internal Timing When the lidar disconnected from the external clock source after time synchronization, then the lidar will continue timing from the time of the interruption. When there is no other external clock source after-power on, the lidar will start internal timing and the timing value will be output as a timestamp of the data packet without UTC time reference.

  • Page 37: Angle And Coordinate Calculation

    LS128S2 7. Angle and Coordinate Calculation In order to obtain the vertical angle, horizontal angle and distance parameters of the lidar, the angle and distance information in polar coordinates can be converted to the x, y, z coordinates in the right-hand Cartesian coordinate system.

  • Page 38: Appendix A. Maintenance

    LS128S2 Appendix A. Maintenance Shipping Requirements LS series lidars use packaging materials specially customized by our company, which can resist certain vibrations and impacts. For long-distance transportation, special packaging materials must be used to avoid irreversible damage during transportation. Installation Use screws that meet the specifications to fix the lidar base, and make sure the base has good heat dissipation.

  • Page 39: Appendix B: Troubleshooting

    LS128S2 Appendix B. Troubleshooting For any of the following problems during the use of the lidar, please refer to the corresponding solutions for troubleshooting. If you are unable to implement the following steps, or if you are still unable to solve the problem after implementing the steps, please contact our technical support.
  • Page 40 LS128S2 irregular point cloud ⚫ horizontal FOV setting in the host computer alignment) ⚫ whether the network is blocked by other devices transmitting data Confirm: Error occurs when the graphics card is used correctly, discrete graphics card ⚫ running the Windows...
  • Page 41 Revision History Rev. Release Date Revised Content Issued/Revised By V1.0.0 2022-10-21 Initial Version LS1286 Specification of mounting screw V1.0.1 2022-10-24 LS1286 modification Specifications updated; Operating voltage range modified; Mechanical drawing updated; V1.0.2 2023-02-06 Windows client introduction LS1286 modified; 6.3 gPTP Synchronization added;...
  • Page 42 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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