Related Manuals for LSLIDAR LS500W1
Summary of Contents for LSLIDAR LS500W1
- Page 1 LS500W1 User Manual V1.0.0 2023.10 LeiShen Intelligent System Co., LTD http://www.lslidar.com/...
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Page 2: Safety Instruction
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 6. TIME SYNCHRONIZATION ....................28 6.1 GPS S YNCHRONIZATION ......................28 6.2 PTP/ PTP S YNCHRONIZATION ....................29 6.3 L IDAR NTERNAL IMING ......................30 7. ANGLE AND COORDINATE CALCULATION ..............32 APPENDIX A. MAINTENANCE ....................33 APPENDIX B. TROUBLESHOOTING ..................34...
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Page 6: Product Profile
LS500W1 1. Product Profile 1.1 Overview The LS500W1 series hybrid solid-state LiDAR adopt LeiShen Intelligent’s self- developed and self-produced 1550 nm fibre laser as the light source, with a detection distance of 2~150 m. It can effectively identify different target attributes such as people, animals, vehicles, tyres and falling objects, and output information such as distance and 3D profile. -
Page 7: Dimensions
-40℃~ +105℃ Shock Test 500 m/sec², lasting for 11 ms Vibration Test 5 Hz ~2000 Hz, 3G rms IP Grade IP 6K9K Power Consumption ≤40 W Dimensions (L*W*H) 270*160*80 mm Weight ≤3 kg 1.4 Dimensions Figure 1.2 LS500W1 Mechanical Drawing... - Page 8 LS500W1 Figure 1.3 LS500W1 Lidar Mounting Drawing Note: ① Two φ 3 dowel pins for the location holes. ② Four M5*6 mm hexagon socket head cap screws to mount and fix.
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Page 9: Electrical Interface
2. Electrical Interface 2.1 Power Supply The power input range of the LS500W1 lidar is 9 V ~36 VDC. Please note that DC 9 V and 36 V are short-term power supply in extreme environment, which cannot be used as working voltage. When the voltage output fluctuates, the lidar may not be able to work normally. - Page 10 LS500W1 Figure 2.2 12-Pin Power Supply and GPS Cable Table 2.1 Wiring Definition of the 12- Pin Power Supply and GPS Cable Definition Color Description Power+ Brown Power+ Orange Power+ GPS_PPS White GPS PPS, External Sync PPS GPS (latitude/longitude, GPS_RXD...
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Page 11: Get Ready
Note: Please remove the protective film on the optical window before use. 3.2 Software Preparation The LS500W1 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 LS500W1 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.
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Page 13: Usage Guide
LS500W1 4. Usage Guide This part states operation instructions of the Windows Client and ROS driver 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
LS500W1 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: Offline Menu
LS500W1 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
LS500W1 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
LS500W1 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 LS500W1 port is occupied, it will prompt that the communication network port configuration has failed, and automatically close the software. You need to close the software process that occupied the port, and reopen the Client to use it normally. 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.
- Page 19 LS500W1 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 LS500W1 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. To address this problem, in Control Panel -> System and Security -> Windows...
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Page 21: Ros Driver Operation Under Linux Os
LS500W1 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. 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. -
Page 22: Software Operation Example
LS500W1 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 that the lidar data is sent normally). - Page 23 LS500W1 “lslidar_ls.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. Please check the hardware connection.
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Page 24: Communication Protocol
The data of the package adopts Big-Endian mode. The LS500W1 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
LS500W1 contains 149 points, that is, 149*8=1192 bytes, and the frame tail is 14 bytes (including 2 bytes of package counter, 6 bytes of UTC Time or Unix Timestamp (unit: second), 4 bytes of Timestamp (unit: nanosecond) and 1 byte of lidar model and 1 byte of echo mode). - Page 26 LS500W1 Subframe 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.
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Page 27: Difop Protocol
LS500W1 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
LS500W1 & 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 Clock Source Selection Reserved Latitude and Longitude... - Page 29 LS500W1 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.
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Page 30: Configuration Parameters And Status Description
LS500W1 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
LS500W1 Time The lidar receives GPS signals and parses the $GPRMC information. The UTC synchronizes with GPS. The GPS baud rate supported by the lidar is 9600. There are 8 data bits, 1 stop bit and no parity bit. When there is no external clock source to synchronize time, the lidar starts internal timing. - Page 32 LS500W1 Device Port 8899 0x22C3 (port2） Reserved Reserved 0x0000 Reserved Reserved 0x00 1180 Tail 0x0F,0xF0 When using this protocol to configure the device, byte-level or section-level addressing and writing are not allowed, and the entire list must be written completely. After the list is written, the corresponding function will be updated...
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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 LS500W1 lidar GPS_REC interface level protocols, namely TTL level standard and RS232 level standard. The two protocols differ in... -
Page 34: Ptp/Gptp Synchronization
LS500W1 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: Lidar Internal Timing
LS500W1 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 LS500W1 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.
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Page 37: Angle And Coordinate Calculation
LS500W1 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
LS500W1 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
LS500W1 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 LS500W1 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...
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Page 41: Revision History
Revision History Rev. Release Date Revised Content Issued/Revised By V1.0.0 2023-10-31 Initial Version LeiShen *This product information is subject to change without notice. Copyright ©2023 LeiShen Intelligent System Co., Ltd. All rights reserved. - 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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