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Beyond Falcon K1 User Manual

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  • Page 2: Table Of Contents

    Falcon K1 LiDAR User Manual Product description ..........................7 Product introduction ..........................7 Time of flight ............................7 LiDAR laser and coordinate system ......................7 Scanning pattern ............................ 8 Specifications ............................8 Getting started ............................11 Delivery list ............................11 Verification ............................
  • Page 3 Falcon K1 LiDAR User Manual Operate in Docker ..........................68 4.3.1 Start the LiDAR ..........................68 4.3.2 View the LiDAR point cloud data ..................... 68 4.3.3 Replay LiDAR point cloud data ......................70 4.3.4 Shut down the LiDAR ........................72 SDK configuration ..........................

  • Page 4: Manual Description

    This manual provides instructions for the installation, usage, maintenance, and diagnostic evaluation of Falcon K1 LiDAR (hereinafter referred to as "Falcon" or "LiDAR"). The contents of the manual are based on the different phases of the LiDAR life cycle, including the installation, configuration, and maintenance of the LiDAR.

  • Page 5: Device Maintenance

    Falcon K1 LiDAR User Manual Please contact Seyond staff to obtain detailed specifications. To reduce the risk of electric shock and avoid violating the warranty, please do not disassemble or modify the LiDAR without permission. This product does not contain the user's serviceable parts. Please consult Seyond's certified service personnel for maintenance and repair.
  • Page 6 Falcon K1 LiDAR User Manual Do not misuse the product by dropping, burning, piercing, bumping, squeezing, etc.  Shut off the product immediately once it is hit or dropped. Please contact Seyond staff for technical  support. If there is any possibility that the product may have been damaged, please stop using it immediately ...

  • Page 7: Medical Device Interference

    Falcon K1 LiDAR User Manual Before the operation, please read the product label’s certification and safety information. Although the product’s design, testing, and manufacturing comply with the relevant provisions of RF energy radiation, the radiation from the product may still lead to the failure of other electronic equipment.

  • Page 8: Product Description

    1.1 Product introduction Product Overview Falcon K1 (hereinafter referred to as "Falcon" or "LiDAR") is an industry-leading automotive-grade LiDAR developed by Seyond through forward engineering. It can detect objects as far as 500 meters, and dark objects with 10% reflectivity up to 250 meters. Falcon can maximize point density in region of interest (ROI) which is adjustable to focus where it matters most to better track objects on the road.

  • Page 9: Scanning Pattern

    Falcon K1 LiDAR User Manual Y-axis is parallel to the ground, pointing right.  Z-axis is parallel to the ground, pointing forward.  The origin in this coordinate is the optical origin and can be used for calibration reference. ...
  • Page 10 Falcon K1 LiDAR User Manual ± 10 cm for retroreflectors Detection Range Precision (10% 2 cm (50 m@1sigma) Lambertian reflectivity) Detection Range Resolution 0.5 cm Vertical Scanning Lines 1520 lines/sec FOV in non-ROI (H×V) 120°×25° FOV in ROI (H×V) 40°×4.8°...
  • Page 11 Falcon K1 LiDAR User Manual Vibration IEC 60068-2-64 Compliance IEC60825-1 Class 1 eye-safe, RoHS, CE ACCESSORIES Optional Wire Harness 5m cable (power & Ethernet) Optional Converter Metadaptor Optional Mount Metal bracket SOFTWARE Available Drivers ROS/ROS2 Note Specifications are subject to change without notice.

  • Page 12: Getting Started

    Falcon K1 LiDAR User Manual 2 Getting started This chapter provides the procedure to test and verify that your LiDAR is operating properly. 2.1 Delivery list It is highly recommended to check if there are any loss or damage of the components according to the delivery list before installation.

  • Page 13: Lidar Connection

    Falcon K1 LiDAR User Manual About how to view the point cloud via MetaView, see 2.2.6 (Optional) View the point cloud status via MetaView. 2.2.1 LiDAR connection Metadaptor computer 1000BASE-T1 interface Third-party automotive Ethernet adapter LiDAR interface Falcon K1 Power supply...
  • Page 14 Falcon K1 LiDAR User Manual Select Settings > Network & internet > Ethernet. Click Edit on the IP assignment bar. Select Manual in the Edit IP settings dialog box. Toggle on IPv4. Enter the IP address, Subnet mask and Gateway to make the computer with the same subnet to the LiDAR.
  • Page 15 Falcon K1 LiDAR User Manual (Optional) Verify the connection. It is recommended to check the access to the LiDAR IP address by using the ping command. The return value is shown in the figure below. The default factory LiDAR will usually have an IP address of 172.168.1.10.

  • Page 16: View The Point Cloud Status On Ila

    Falcon K1 LiDAR User Manual 2.2.4 View the point cloud status on ILA Open the browser. Enter the LiDAR IP address and port number in the address bar <IP Address>: to access the ILA. <PORT> Note The default LiDAR IP address is 172.168.1.10. By default, the ILA port number is 8675. The default ILA login address is 172.168.1.10:8675.

  • Page 17: Optional) View The Point Cloud Status In Ros

    Falcon K1 LiDAR User Manual 2.2.5 (Optional) View the point cloud status in ROS 2.2.5.1 View the point cloud status in ROS1 View the system details and obtain the corresponding driver. Copy the driver to the root directory of the system. Execute the following command to install the driver.
  • Page 18 Falcon K1 LiDAR User Manual Obtain the point cloud data of the LiDAR. The return value is shown in the figure below. Obtain the point cloud data via the TCP port. • source /opt/ros/melodic/setup.bash roslaunch innovusion_pointcloud innovusion_points.launch device_ip:= <device_ip> port:=<...
  • Page 19 Falcon K1 LiDAR User Manual Start the graphical tool rviz. The return value and rviz interface are shown below. rviz Copyright©Seyond, Inc.
  • Page 20 Falcon K1 LiDAR User Manual Select Global Options > Fixed Frames. Set the Fixed Frames value to innovusion. Copyright©Seyond, Inc.
  • Page 21 Falcon K1 LiDAR User Manual Add PointCloud2 to Displays. Click Add. Select By topic > iv_points > PointCloud2. Click OK. Select PointCloud2 > Topic. Set the Topic value to /iv_points. Copyright©Seyond, Inc.
  • Page 22 Falcon K1 LiDAR User Manual iii. Select PointCloud2 > Style. Set the Style value to Points. Copyright©Seyond, Inc.
  • Page 23 Falcon K1 LiDAR User Manual 2.2.5.2 View the point cloud status in ROS2 View the system details and obtain the corresponding driver. Copy the driver to the root directory of the system. Execute the following command to install the driver.
  • Page 24 Falcon K1 LiDAR User Manual ros2 run innovusion publisher –-ros-args -p device_ip:=<device_ip> -p lidar_port:=<TCP_port> Note The default value of device_ip is 172.168.1.10. By default, the TCP port number is 8010. You can run the directly to obtain the ros2 launch innovusion ivu_pc2.py ros2 run innovusion publisher point cloud data with the default settings.
  • Page 25 Falcon K1 LiDAR User Manual Select Global Options > Fixed Frames. Set the Fixed Frames value to innovusion. Copyright©Seyond, Inc.
  • Page 26 Falcon K1 LiDAR User Manual Add PointCloud2 to Displays. Click Add. Select By topic > iv_points > PointCloud2. Click OK. Copyright©Seyond, Inc.
  • Page 27 Falcon K1 LiDAR User Manual Select PointCloud2 > Topic. Set the Topic value to /iv_points. Copyright©Seyond, Inc.

  • Page 28: Optional) View The Point Cloud Status Via Metaview

    Falcon K1 LiDAR User Manual iii. Select PointCloud2 > Style. Set the Style value to Points. 2.2.6 (Optional) View the point cloud status via MetaView Double-click to open MetaView.exe. Note You can download the latest MetaView at the Seyond Resource Hub at https://hub.seyond.com/.
  • Page 29 Falcon K1 LiDAR User Manual Enter LiDAR IP address and port number. Click to connect the LiDAR. The default LiDAR IP address is 172.168.1.10 and the default port number is 8010. You could check the point cloud status after adding the LiDAR.
  • Page 30 Falcon K1 LiDAR User Manual Copyright©Seyond, Inc.

  • Page 31: Installation

    Falcon K1 LiDAR User Manual 3 Installation 3.1 Precautions Falcon is generally intended to be mounted on vehicles. Please follow the instructions during the installation process. ersonnel Requirements The device is only intended to be installed by Seyond service personnel or persons trained by Seyond.

  • Page 32: Disposal Of Packaging Materials

    Falcon K1 LiDAR User Manual auxiliary tools or assistants if needed. Please do not place the device in an unstable position or handle it in an incorrect posture in case of  device damage and personal injury. Disposal of packaging materials ...

  • Page 33: Cable Description

    Falcon K1 LiDAR User Manual Unit: mm Top view 3.3 Cable description Please notice that if the Falcon must connect to industrial Ethernet with an RJ45 connector, it is necessary to adopt a media converter for the switch from the 1000Base-T1 interface to an RJ45 interface.
  • Page 34 Falcon K1 LiDAR User Manual [1]: Grounding [2]: Empty pin [3]: Shield grounding [4]: Power supply [5]: CAN high [6]: CAN low [7] and [8]: Gigabit Ethernet 4-pin interface. Pins are defined as follows. Power supply [1]: Power supply- [2]: Empty pin...

  • Page 35: Lidar Connection

    Falcon K1 LiDAR User Manual 3.4 LiDAR connection Metadapter Computer with an RJ45 interface 1000BASE-T1 interface Third-party automotive Ethernet adapter LiDAR interface Falcon G Power supply Power supply interface DC power supply （9 to 34V DC） 3.5 Cleaning For optimal performance of LiDAR, please keep the front window of the sensor clean and free of dirt, bugs, and other debris.

  • Page 36: Software Operation

    Falcon K1 LiDAR User Manual 4 Software operation You can operate the LiDAR on the following platforms. For how to operate LiDAR using SDK tools, please If you want to get more information, please contact Seyond staff to obtain refer to 5 SDK configuration.

  • Page 37: View The Point Cloud Status Of The Lidar

    Falcon K1 LiDAR User Manual The default LiDAR IP address is 172.168.1.10. By default, the ILA port number is 8675. The default ILA login address is 172.168.1.10:8675. It is recommended to check the access to the LiDAR IP address by using the ping command. The return value is shown in the figure below.

  • Page 38: Record Lidar Point Cloud Data

    Falcon K1 LiDAR User Manual 4.1.4 Record LiDAR point cloud data You can record LiDAR point cloud data in different formats. Go to View stream > Record data stream. Select the way to record the point cloud file. If you select Auto, you need to specify the size of file before recording. If you select Manual, Stop to stop recording the file.

  • Page 39: View/Download Logs

    Falcon K1 LiDAR User Manual Select Pointcloud snapshot (.pcd) in Format. Enter the number of frames to be recorded in frame (s). The range is from 0 to 20. • Record a file in inno_pc format. Select Inno-pointcloud (.inno_pc) in Format. Enter the number of frames to be recorded in frame (s).

  • Page 40: View Version Information

    Falcon K1 LiDAR User Manual (Optional) Set the filtering criteria of the logs. Time range: Select Prev boot or This boot to choose whether to display the last 100 log • messages generated before this boot or those generated after this boot.

  • Page 41: Operate In Ros

    Falcon K1 LiDAR User Manual 4.2 Operate in ROS 4.2.1 Operate in ROS1 environment The operations in this chapter are based on the Ubuntu 18.04. The version of ROS is melodic. 4.2.1.1 Start the LiDAR Connect the power supply to start the LiDAR.
  • Page 42 Falcon K1 LiDAR User Manual System Version Ubuntu 18.0.4 Ubuntu 20.0.4 Start ROS. The return value is shown in the figure below. roscore Obtain the point cloud data of the LiDAR. The return value is shown in the figure below.
  • Page 43 Falcon K1 LiDAR User Manual 4.2.1.3 View LiDAR point cloud data Note Before viewing the point cloud data, please confirm that the point cloud data has been obtained. Start the graphical tool rviz. The return value and rviz interface are shown below.
  • Page 44 Falcon K1 LiDAR User Manual Select Global Options > Fixed Frames. Set the Fixed Frames value to innovusion. Copyright©Seyond, Inc.
  • Page 45 Falcon K1 LiDAR User Manual Add PointCloud2 to Displays. Click Add. Select By topic > iv_points > PointCloud2. Click OK. Select PointCloud2 > Topic. Set the Topic value to /iv_points. Copyright©Seyond, Inc.
  • Page 46 Falcon K1 LiDAR User Manual iii. Select PointCloud2 > Style. Set the Style value to Points. Copyright©Seyond, Inc.
  • Page 47 Falcon K1 LiDAR User Manual (Optional) You can change the angle and distance of the real-time point cloud status and get more information as needed. • You can select Axes to add the coordinate system to the diagram as a reference.
  • Page 48 Falcon K1 LiDAR User Manual Set the plane value to view the point cloud status under different coordinate systems. • There are three options: XY, XZ, and YZ. 4.2.1.4 Record LiDAR point cloud data Copyright©Seyond, Inc.
  • Page 49 Falcon K1 LiDAR User Manual You can record the point cloud data of the LiDAR in bag format in ROS. Note Before recording the point cloud data of the LiDAR, please confirm that the point cloud data has been obtained correctly in ROS. For information on how to get the point cloud data, see 4.2.1.2 Obtain point...
  • Page 50 Falcon K1 LiDAR User Manual Start the graphical tool rviz. The return value and rviz interface are shown below. rviz Replay LiDAR point cloud data in rviz. rosbag play <filename.bag> Select Global Options > Fixed Frames. Set the Fixed Frames value to innovusion.
  • Page 51 Falcon K1 LiDAR User Manual Add and configure PointCloud2. Add PointCloud2 to the Displays. Click Add. Select By topic > display type > PointCloud2. Click OK. Copyright©Seyond, Inc.
  • Page 52 Falcon K1 LiDAR User Manual Select PointCloud2 > Topic. Set the Topic value to /iv_points. Copyright©Seyond, Inc.
  • Page 53 Falcon K1 LiDAR User Manual iii. Select PointCloud2 > Style. Set the Style value to Points. (Optional) You can change the angle and distance of the real-time point cloud status and get more information as needed. You can select Axes to add the coordinate system to the diagram as a reference.
  • Page 54 Falcon K1 LiDAR User Manual • Select Grid to add the grid to the diagram as a reference. Grid is enabled by default when rviz is started. Copyright©Seyond, Inc.

  • Page 55: Operate In Ros2 Environment

    Falcon K1 LiDAR User Manual • Set the plane value to view the point cloud status under different coordinate systems. There are three options: XY, XZ, and YZ. Press Space to pause playback of the point cloud data file. 4.2.1.6 Shut down the LiDAR Disconnect the power supply to shut down the LiDAR.
  • Page 56 Falcon K1 LiDAR User Manual Connect the computer to the LiDAR. Verify the protocol mode of the lidar for sending data. When the lidar sends data using UDP, it should be ensured that the host and LiDAR are on the same network segment. For how to change the computer IP on Windows, see 2.2.3 Change the computer IP...
  • Page 57 Falcon K1 LiDAR User Manual Execute the following command and re-run the obtain command and if the point cloud data was obtained correctly. source /opt/ros/foxy/setup.bash • Obtain the point cloud data via TCP. Method 1  ros2 launch innovusion ivu_pc2.py device_ip:=<device_ip> lidar_port:=<TCP_port>...
  • Page 58 Falcon K1 LiDAR User Manual The default value of device_ip is 172.168.1.10. By default, the TCP port number is 8010. You can run the ros2 launch innovusion ivu_pc2.py or ros2 run innovusion publisher directly to obtain the point cloud data with the default settings.
  • Page 59 Falcon K1 LiDAR User Manual Select Global Options > Fixed Frames. Set the Fixed Frames value to innovusion. Copyright©Seyond, Inc.
  • Page 60 Falcon K1 LiDAR User Manual Add PointCloud2 to Displays. Click Add. Select By topic > iv_points > PointCloud2. Click OK. Select PointCloud2 > Topic. Set the Topic value to /iv_points. Copyright©Seyond, Inc.
  • Page 61 Falcon K1 LiDAR User Manual iii. Select PointCloud2 > Style. Set the Style value to Points. Copyright©Seyond, Inc.
  • Page 62 Falcon K1 LiDAR User Manual (Optional) You can change the angle and distance of the real-time point cloud status and get more information as needed. • You can select Axes to add the coordinate system to the diagram as a reference.
  • Page 63 Falcon K1 LiDAR User Manual Set the plane value to view the point cloud status under different coordinate systems. • There are three options: XY, XZ, and YZ. 4.2.2.4 Replay LiDAR point cloud data Copyright©Seyond, Inc.
  • Page 64 Falcon K1 LiDAR User Manual You can replay the point cloud data in pcap format in ROS environment. Note Before replaying LiDAR point cloud data, please confirm that the recorded point cloud data file has been obtained. You could capture the pcap data with Wireshark.
  • Page 65 Falcon K1 LiDAR User Manual Select By topic > display type > PointCloud2. Click OK. Select PointCloud2 > Topic. Set the Topic value to /iv_points. iii. Select PointCloud2 > Style. Set the Style value to Points. Copyright©Seyond, Inc.
  • Page 66 Falcon K1 LiDAR User Manual (Optional) You can change the angle and distance of the real-time point cloud status and get more information as needed. You can select Axes to add the coordinate system to the diagram as a reference.
  • Page 67 Falcon K1 LiDAR User Manual • Select Grid to add the grid to the diagram as a reference. Grid is enabled by default when rviz is started. • Set the plane value to view the point cloud status under different coordinate systems.
  • Page 68 Falcon K1 LiDAR User Manual [Parameter description] device_ip: The IP address of the LiDAR from which the data was captured.  pcap_file: The file name to be replayed.  UDP port: The UDP port of the LiDAR from which the data was captured.

  • Page 69: Operate In Docker

    Falcon K1 LiDAR User Manual packet_rate(Optional): The replay speed of the file. The default value is 20.  • When the play_rate=0, the play speed is as fast as possible. • When the play_rate≤100, the unit of play speed is MB/s. e.g., When play_rate=50. the play speed is at 50 MB/s.
  • Page 70 Falcon K1 LiDAR User Manual Note <package.deb> is the driver’s name. Please get the latest driver based on the actual conditions of the computer. If the existing driver does not match the computer’s version, please contact Seyond staff. The default LiDAR IP address is 172.168.1.10.

  • Page 71: Replay Lidar Point Cloud Data

    Falcon K1 LiDAR User Manual 4.3.3 Replay LiDAR point cloud data The point cloud data in inno_raw format can be replayed by Docker. Enter the Docker path. View the status of the LiDAR point cloud. ./launch-docker.py --deb-file < package.deb> --yaml <file...
  • Page 72 Falcon K1 LiDAR User Manual Note <package.deb> is the driver’s name. Please get the latest driver based on the actual situation of the computer. If the existing driver does not match the computer’s version, please contact Seyond staff. <filename.yaml> is the configuration file. You can download this file using ILA.

  • Page 73: Shut Down The Lidar

    Falcon K1 LiDAR User Manual 4.3.4 Shut down the LiDAR Disconnect the power supply to shut down the LiDAR. Copyright©Seyond, Inc.

  • Page 74: Sdk Configuration

    Falcon K1 LiDAR User Manual 5 SDK configuration You can operate the LiDAR using the following executable files. For more information, please contact Seyond staff to obtain related manuals. Table 9 executable file instructions Software Interface Description get_pcd This lightweight executable file allows the user to record data files and convert data between different formats.

  • Page 75: Communication Protocol

    Falcon K1 LiDAR User Manual 6 Communication protocol You can obtain the point cloud data via TCP or UDP. 6.1 Data transmission via TCP TCP (Transmission Control Protocol) is a connection-oriented unicast transmission protocol. The LiDAR serves as the server, and the client serves as the client in TCP. The client initiates a connection request to the server.

  • Page 76: Time Synchronization

    Falcon K1 LiDAR User Manual 7 Time synchronization The point cloud data has associated timestamp information due to the measurement feature of LiDAR. Time information management is essential to facilitate device debugging, multi-sensor fusion, operation, maintenance, and other functions during the use of LiDAR in the network environment. The mainstream time synchronization methods include GPS, NTP, and PTP (including gPTP).

  • Page 77: Appendix A. Computer Configuration Reference

    Falcon K1 LiDAR User Manual Appendix A. Computer configuration reference The following table provides the reference for configuring the computer. Users can select suitable computers according to the table. Note The computer configuration recommended in this table only enables you to view point cloud data. If you have other requirements, please consult Seyond staff.

  • Page 78: Appendix B. Command Line Instructions

    Falcon K1 LiDAR User Manual Appendix B. Command line instructions Table 13 Command line instructions Format Description < > The content in “< >” needs to be replaced by the actual value. e.g., ./innovusion_lidar_util 172.168.1.10 get_version The contents in “[ ]” is optional.

  • Page 79: Appendix C. Abbreviations And Terms

    Falcon K1 LiDAR User Manual Appendix C. Abbreviations and terms Table 14 Abbreviations Abbreviations Full name Alternating Current Direct Current Ethernet Frequently Asked Questions Field of View Generation Ground Global Positioning System H × W × D Height × Width × Depth...
  • Page 80 Falcon K1 LiDAR User Manual protocol. It is used for high-precision time synchronization between devices but can also be used for frequency synchronization between devices. Installers refer to those who have received professional training and have Installer rich experience in the relevant field, fully understand the application of protective devices on the machine, and can assess its working safety state.

  • Page 81: Appendix D. Revision History

    Falcon K1 LiDAR User Manual Appendix D. Revision history Revision history Version number Revised content Revision time V2.1.2 The draft for Resource Hub 2024/03/19 Copyright©Seyond, Inc.

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