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LSLIDAR CX1S3 User Manual

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CX1S3
User Manual
V1.0.0
2023.12
LeiShen Intelligent System Co., LTD
http://www.lslidar.com/

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Summary of Contents for LSLIDAR CX1S3

  • Page 1 CX1S3 User Manual V1.0.0 2023.12 LeiShen Intelligent System Co., LTD http://www.lslidar.com/...

  • 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.

  • Page 4: Table Of Contents

    OS ....................10 PERATION NDER INDOWS 4.1.1 Lidar Configuration ......................10 4.1.2 CX1S3 Windows Client Interface ................... 11 4.1.3 Operation Procedure ......................13 4.1.4 Point Cloud Data Parsing ....................14 4.1.5 Note ............................ 14 4.2 ROS D OS .................. 18...
  • Page 5 5.3.2 Configuration Package Example ..................31 6. TIME SYNCHRONIZATION ...................... 32 6.1 GPS S ........................32 YNCHRONIZATION PTP S ........................ 33 YNCHRONIZATION 6.3 L ........................35 IDAR NTERNAL IMING 7. ANGLE AND COORDINATE CALCULATION ................36 7.1 V ..........................36 ERTICAL NGLE 7.2 H...

  • Page 6: Product Profile

    150 m (@10%). 1.2 Mechanism The CX1S3 hybrid solid-state lidar adopts the Time of Flight method. The lidar starts timing (t ) when the laser pulses are sent out. And when the laser...

  • Page 7: Dimensions

    635 g 1.4 Dimensions There are 4 mounting holes and 2 positioning holes at the bottom of CX1S3 lidar. Four M4*10 (hexagon socket head cap screws) mechanical screws with spring washers and flat washers are needed for locking and fixing the lidar. See the outline dimension drawing shown in Figure 1.2.
  • Page 8 CX1S3 Figure 1.2 CX1S3 Lidar Dimension...
  • Page 9 CX1S3 Figure 1.3 CX1S3 Mounting Dimensions The CX1S3 lidar utilizes mirror rotation and special optical design to scan 120° horizontally. Figure 1.4 shows the optical center position, which is also the coordinate origin of the host computer display software.
  • Page 10 CX1S3 Figure 1.4 The Optical Center of the CX1S3...

  • Page 11: Electrical Interface

    2. Electrical Interface 2.1 Power Supply The power input range of the CX1S3 lidar is 9 V～32 VDC. If other DC power supply is adopted, the recommended output voltage of the power supply is 24 VDC. Please note that DC 9 V and 32 V are short-term power supply in extreme environment, which cannot be used as working voltage.
  • Page 12 CX1S3 Figure 2.1 The Interface of CX1S3 The cable connecting to the CX1S3 lidar interface is one 2-in-1 power supply and Ethernet cable. As shown below. Figure 2.2 2-in-1 Power Supply and Ethernet cable Table 2.1 Wiring Definition of the Cable...

  • Page 13: Get Ready

    ⚫ Software Acquisition This CX1S3 Windows Client has been pre-stored in the USB flash drive provided along with the lidar. It can also be obtained from the sales or technical support personnel. No installation is required to the client.
  • Page 14 CX1S3 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. Step 3. Click “next” to enter the installation path selection interface.

  • Page 15: Usage Guide

    CX1S3 4. Usage Guide This part states operation instructions of the Windows Client and ROS drive. 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 16: Cx1S3 Windows Client Interface

    CX1S3 Figure 4.1 Wireshark captures APR packets 4.1.2 CX1S3 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: In the point cloud display area (right side), with 20 circles and 40*40 grids, the radius of each two adjacent circles differs by 10 m.

  • Page 17: Offline Menu

    CX1S3 direction of the coordinate axis in the 3D display interface is consistent with the direction of the X-Y axis in the point cloud reference system. Note: To view the software version, click “Help->About” in the tool bar. Point cloud display interface supports the following operations: 1) Zoom in/out the display interface with the mouse wheel;...

  • Page 18: Parameter Menu

    CX1S3 When paused, view the previous frame; When playing, rewind (click multiple times to select 2x, 3x, 1/2x, 1/4x and 1x speed) Click to start playing after the point cloud file is loaded When playing, click to pause When paused, view the next frame;...

  • Page 19: Point Cloud Data Parsing

    CX1S3 in the picture below) number (default 2369). 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 PointID, Points_m_XYZ, Azimuth, Distance, Intensity, Laser_id, timestamp, in which PointID is the point number;...
  • Page 20 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 CX1S3 lidar can be modified through user configuration, and the lidar sends data to the host computer through the preset destination IP and port.
  • Page 21 CX1S3 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 22 CX1S3 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 23: Ros Driver Operation Under Linux Os

    CX1S3 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 24: Software Operation Example

    CX1S3 that the lidar data is sent normally). sudo tcpdump -n -i eth0 Figure 4.8 Command Feedback 4.2.2 Software Operation Example Note: The following instructions are for reference only. Please refer to the README file of the ROS drive bag in the customer service pack for details.
  • Page 25 CX1S3 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.

  • Page 26: Communication Protocol

    CX1S3 5. Communication Protocol Lidar data output and configuration use Gigabit Ethernet UDP/IP communication protocol. There are 3 UDP packet protocols, among which MSOP packet length is 1254 bytes (42 bytes Ethernet header and 1212 bytes payload). DIFOP and UCWP are 1248 bytes (42 bytes Ethernet header and 1206 bytes payload) Lidar supports unicast, broadcast and multicast communication.

  • Page 27: Format

    CX1S3 of Factory). 5.1.1 Format The CX1S3 lidar supports single echo mode which measures the most recent echo value and dual echo mode which measures the most recent and second recent echo values. Single Echo Mode Each MSOP data packet contains 1212 bytes of data. Each packet of data...

  • Page 28: Data Package Parameter Description

    CX1S3 Measure point 3 …… Measure point 109 Reserved (1 byte) UTC Time (6 bytes) Timestamp (4 bytes) Factory (2 bytes) Note: The lidar displays the point cloud image by frame. In the MSOP data package, if the data of the first point is FF AA BB CC DD EE 11 22 33 44 55, then it is the start mark of the point cloud frame (the lidar scans to the far right at this time).
  • Page 29 CX1S3 Byte 2 and Byte 3 represent the horizontal angle, whose data are stored in Big- Endian mode. The unit is 0.01 degrees. For example, 0x11AD=4525, that is 45.25°. Byte 4, Byte 5, and Byte 6 represent the distance value. Their data are stored in Big-Endian mode.
  • Page 30 CX1S3 packet is represented by the hexadecimal number 0x02,0x18,0x32, and the first two bytes are composed of 16-bit unsigned data, that is: 0x0218, which is converted to decimal distance value: 536 cm. The last byte is the decimal part, 0x32 equals 50 in decimal, that is, 50*1/256 cm=0.1953125 cm. Then the two parts add up to 536.

  • Page 31: Difop Protocol

    Reserved Year, month, day, hour, minute and second UTC time of the UTC time Timestamp Timestamp (ns) Vendor 0x7D represents the CX1S3 lidar Information Factory Echo 0x1 represents single echo lidar Information 0x2 represents dual echo lidar The additional information of the dual echo mode is 13 bytes in length, including 1 byte reserved, 6 bytes of UTC time of year, month, day, hour, minute and second, 4 bytes of Timestamp and 2 bytes of Factory.

  • Page 32: Ucwp Protocol

    CX1S3 Destination Ethernet II MAC Source Ethernet Packet Type Type Version, Header Length, Differentiated Services, Field, Total Length, Identification, Internet Protocol Flags, Fragment Offset, Time to Live, Protocol, Header, Checksum, Source IP Address, Destination IP Address Lidar Port (0x0940, represents 2368)

  • Page 33: Configuration Parameters And Status Description

    CX1S3 Ethernet Header: 42 bytes Name Information Offset Length (byte) Destination Ethernet II Source Ethernet Type Packet Type Version, Header Length, Differentiated Services, Field, Total Internet Length, Identification, Flags, Protocol Fragment Offset, Time to Live, Protocol, Header, Checksum, Source IP Address, Destination IP Address...
  • Page 34 CX1S3 Function Speed: 30 Hz/60 Hz/120 Hz/150 Hz The motor rotates clockwise. Five speeds can be set: when it is set to 0x0BB8, the speed is 3000 rpm; when it is set to 0x0960, the speed is 2400 rpm; when it is set to 0x0708, the speed is 1800 rpm;...
  • Page 35 CX1S3 Byte 0 Function 0 means normal mode; 1 means standby mode Configure 0x00 to indicate normal mode; configure 0x01 to indicate standby mode, where the laser does not emit light. Phase Lock Enable Phase Lock Enable (2 Bytes) Byte 0 Function 0: not enabled;...

  • Page 36: Configuration Package Example

    CX1S3 Byte Byte Byte 11 Byte 12 Byte 13 Byte 14 Byte 15 Byte 16 Function Longitude Byte Byte Byte 19 Byte 20 Byte 21 Byte 22 Function The latitude and longitude are output in the form of ASCII code.

  • Page 37: Time Synchronization

    The lidar extracts UTC information from the $GPRMC of the GPS as the UTC time output. There are two types of CX1S3 lidar GPS_REC interface level protocols, namely TTL level standard and RS232 level standard. The two protocols differ in two...

  • Page 38: Gptp Synchronization

    CX1S3 point cloud can be matched with the pitch, roll, yaw, latitude, longitude and 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 1 The standard format of GPRMC information is as follows: $GPRMC, <1>, <2>, <3>, <4>, <5>, <6>, <7>, <8>, <9>, <10>, <11>, <12>...
  • Page 39 CX1S3 Figure 6.1 Connect the Lidar and gPTP Master The settings steps on the point cloud display software are as follows: run the software, click on “SetShow” to bring up the parameter modification window, change “Source Selection” to “PTP” as shown in the figure below.

  • Page 40: Lidar Internal Timing

    CX1S3 Note: When “PTP” is selected as the clock source, the lidar no longer outputs GPS packets and the time unit changes to nanoseconds (ns). The Timestamp and Date & Time in the point cloud packets will be synchronized strictly according to the time signal provided by the gPTP master clock.

  • Page 41: Angle And Coordinate Calculation

    CX1S3 7. Angle and Coordinate Calculation 7.1 Vertical Angle Take single echo mode as an example: The vertical angle is obtained from the data packet, whose effective data area contains a total of 1197 bytes, including 171 points, that is, 171*7=1197 bytes. Take the first measure point as an...

  • Page 42: Cartesian Coordinate Representation

    CX1S3 Byte 8, Byte 9 and Byte 10 represent the secondary echo distance value. Their data are stored in Big-Endian mode. The two high bytes are the integer part, whose unit is “cm”; and the last byte is the decimal part, whose unit is 1/256 cm.

  • Page 43: Accurate Time Calculation

    The timestamp and UTC time come from the same synchronization source, such as a GPS. The laser emission interval of the CX1S3 lidar is about 0.434 μs (TBD), and the measurement interval of adjacent points is 0.434 μs (TBD).

  • Page 44: Dual Echo Mode

    109 data. Each data packet block of the CX1S3 lidar contains 109 measurement data. Therefore, the end time interval of each data packet is the time of the last point.

  • Page 45: Appendix A. Maintenance

    CX1S3 Appendix A. Maintenance Shipping Requirements This series of lidars are packed with the 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.

  • Page 46: Appendix B. Troubleshooting

    CX1S3 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 47 CX1S3 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 48: Revision History

    Revision History Rev. Release Date Revised Content Issued/Revised By V1.0.0 2023-12-06 Initial Version LeiShen *This product information is subject to change without notice. Copyright © 2023 LeiShen Intelligent System Co., Ltd. All rights reserved.
  • Page 49 Make Safer Driving Smarter Machine and Better Life ! Official Website: https://www.lslidar.com Sales: sales@lslidar.com After-Sales: support@lslidar.com...