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Beyond Robin W1G User Manual

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Robin W1G LiDAR
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  • Page 1 Robin W1G LiDAR User Manual...

  • Page 2: Table Of Contents

    Robin W1G LiDAR User Manual Preface ..............................3 Product description ..........................7 Product introduction..........................7 System principles ............................. 7 LiDAR coordinate system ......................... 7 Scanning pattern ............................. 7 Specifications ............................8 Installation ............................10 Dimensions (Unit:mm) ...........................11 Cable description ...........................12 Cleaning ..............................13...
  • Page 3 Robin W1G LiDAR User Manual 4.3.3 View the point cloud status of the LiDAR..................50 4.3.4 Change the LiDAR IP address ......................51 4.3.5 View/download logs ..........................51 4.3.6 Check the LiDAR information ......................52 4.3.7 Shut down the LiDAR.........................52 Appendix A. Upgrade the LiDAR ......................53 Appendix B.

  • Page 4: Preface

    Robin W1G LiDAR User Manual Preface Product Robin W LiDAR Manufacturer SEYOND Legal Disclaimer The information contained in this document is copyrighted by Seyond, Inc. and is subject to change without notice. Seyond endeavors to ensure the completeness and accuracy of manual publications.
  • Page 5 Robin W 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 Robin W LiDAR User Manual ➢ If there is any possibility that the product may have been damaged, please stop using it immediately to prevent injury to personnel. ➢ Do not touch the LiDAR window with your hands to avoid performance degradation. ➢...
  • Page 7 Robin W LiDAR User Manual interfere with medical equipment, such as cochlear implants, pacemakers, and defibrillators. Consult your doctor and medical equipment manufacturer for specific information, e.g., whether you need to keep a safe distance from this product. If there’s any possibility that this product is interfering with your medical equipment, please stop using it immediately.

  • Page 8: Product Description

    Seyond. Robin offers an ultra-wide 120° x 70° (HxV) field-of-view(FOV) and a distance range twice that of similar products on the market while achieving a 10cm minimum distance. Robin W1G is able to withstand harsh environmental conditions while continuing to deliver a high quality point cloud, delivering superior reliability and product lifetime.

  • Page 9: Specifications

    Robin W LiDAR User Manual 1.5 Specifications Table 1 Specifications LiDAR PERFORMANCE Laser Wavelength 905 nm FOV (H*V) 120°*70° Angular Resolution (H*V) 0.15°*0.36° Detection Range 70 m, POD>90% (10% Lambertian reflectivity @ 10 Hz) Detection Range (Maximum) 150 m Detection Range (Minimum) 0.1 m Detection Precision Upto 1 cm @1σ...
  • Page 10 Robin W LiDAR User Manual + CAN-FD) TRANSMISSION Data Interface 1000BASE-T1 (Data: UDP, Control: TCP) Data Output Distance, Calibrated reflectivity, Azimuth & Elevation Angle, Timestamp Points Per Second 1.20 M (single return@10Hz) Communication bandwidth 60 Mbps (single return) Time Synchronization gPTP / PTP / NTP Echo Mode Single/Dual returns...

  • Page 11: Installation

    Robin W LiDAR User Manual 2 Installation Copyright©Seyond, Inc.

  • Page 12: Dimensions (Unit:mm)

    Robin W LiDAR User Manual 3 Dimensions (Unit:mm) Copyright©Seyond, Inc.

  • Page 13: Cable Description

    Robin W LiDAR User Manual 3.1 Cable description Please note that if the Robin 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. Table 2 Interface description of cable Name Description...

  • Page 14: Cleaning

    Robin W LiDAR User Manual [2]: Empty pin [3]: Power supply+ [4]: Empty pin 1000Base-T1 automotive Ethernet. Pins are defined as follows. 1000Base-T1 automotive Ethernet [1]: Ethernet sender [2]: Ethernet receiver Grounding Shield grounding 3.2 Cleaning For optimal performance of LiDAR, please keep the front window of the sensor clean and free of dirt, bugs, and other debris.
  • Page 15 Robin W LiDAR User Manual • The LiDAR window is made of special plastic material. Please pay attention to the following items when cleaning: Avoid direct skin contact with the optical window. Do not use corrosive cleaners and solvents. Do not use paper towels to clean the window to avoid scratches. Copyright©Seyond, Inc.

  • Page 16: Change Lidar Parameters

    Robin W LiDAR User Manual 4 Change LiDAR parameters 4.1 Change the LiDAR IP address Note  The LiDAR does not have a power switch. It will become operational when power is applied.  In the following steps, <package.tgz> refers to the name of the LiDAR SDK package. ...
  • Page 17 Robin W LiDAR User Manual sudo su cd /<SDK package path>/apps/lidar_util Download the PCS_ENV file. ./innovusion_lidar_util <ip LIDAR> download_internal_file PCS_ENV <filename> //<filename> is the name of the downloaded file Install Vim. sudo apt install vim Enter the PCS_ENV file. sudo vim <filename> Press “i”...

  • Page 18: Software Operation

    Robin W LiDAR User Manual 5 Software operation 5.1 Operate in ROS1 environment The operations in this chapter are based on the Ubuntu 18.04. The version of ROS is melodic. 5.1.1 Start the LiDAR Connect the power supply to start the LiDAR. The LiDAR completes initialization and generates data after powering on for 11 to 18 seconds.
  • Page 19 Robin W LiDAR User Manual sudo dpkg -i <package.deb> Note package.deb is the driver’s name of the LiDAR. Obtain the latest driver version based on the actual conditions. Table 3 Available system System Version Ubuntu 16.04 Ubuntu 18.04 Ubuntu 20.04 Start ROS.

  • Page 20: View Lidar Point Cloud Data

    Robin W LiDAR User Manual • The value of processed_number can be 0 or 1. When the process_number is set to 1, the point cloud data is obtained from the ROS client. When the process_number is set to 0, the point cloud data is obtained from the external PCS.
  • Page 21 Robin W LiDAR User Manual Select Global Options > Fixed Frames. Set the Fixed Frames value to innovusion. Add and Adjust PointCloud2. Copyright©Seyond, Inc.
  • Page 22 Robin W LiDAR User Manual Add PointCloud2 to Displays. Click Add. Select By display type > PointCloud2. Click OK. Select PointCloud2 > Topic. Set the Topic value to /iv_points. Copyright©Seyond, Inc.
  • Page 23 Robin W LiDAR User Manual iii. Select PointCloud2 > Style. Set the Style value to Points. Copyright©Seyond, Inc.
  • Page 24 Robin W LiDAR User Manual (Optional) It is possible to change the angle and distance of the real-time point cloud status to get more information as needed. • Select Axes to add the coordinate system to the diagram as a reference. Select Add >...
  • Page 25 Robin W 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. Copyright©Seyond, Inc.

  • Page 26: Record Lidar Point Cloud Data

    Robin W LiDAR User Manual 5.1.4 Record LiDAR point cloud data ROS can be used to record the point cloud data of the LiDAR in bag format. Note Before recording the point cloud data of the LiDAR, please confirm that the point cloud data has been obtained correctly in ROS.
  • Page 27 Robin W 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> Copyright©Seyond, Inc.
  • Page 28 Robin W LiDAR User Manual Select Global Options > Fixed Frames. Set the Fixed Frames value to innovusion. Add and configure PointCloud2. Copyright©Seyond, Inc.
  • Page 29 Robin W LiDAR User Manual Add PointCloud2 to the Displays. Click Add. Select By topic > iv_points> PointCloud2. Click OK. Select PointCloud2 > Style. Set the Style value to Points. Copyright©Seyond, Inc.
  • Page 30 Robin W LiDAR User Manual (Optional) It is possible to change the angle and distance of the real-time point cloud status to get more information as needed. • Select Axes to add the coordinate system to the diagram as a reference. Select Add >...
  • Page 31 Robin W 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 32: Shut Down The Lidar

    Robin W 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. 5.1.6 Shut down the LiDAR Disconnect the power supply to shut down the LiDAR.
  • Page 33 Robin W LiDAR User Manual The ROS driver needs to be restarted after the LiDAR is shut down or the software is restarted. For the installation method of ROS2, please refer to https://docs.ros.org. 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.
  • Page 34 Robin W LiDAR User Manual Note If the point cloud data was not obtained correctly, try to execute the following command and re-run the obtain command. 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 35: View Lidar Point Cloud Data

    Robin W LiDAR User Manual Run the directly to obtain ros2 launch innovusion ivu_pc2.py ros2 run innovusion publisher the point cloud data with the default settings. • Obtain the point cloud data via UDP. ◼ Method 1 ros2 launch innovusion ivu_pc2.py device_ip:=<device_ip> udp_port:=<UDP_port> ◼...
  • Page 36 Robin W LiDAR User Manual Select Global Options > Fixed Frames. Set the Fixed Frames value to innovusion. Copyright©Seyond, Inc.
  • Page 37 Robin W LiDAR User Manual Add and adjust PointCloud2. Add PointCloud2 to Displays. Click Add. Select By display type> PointCloud2. Click OK. Select PointCloud2 > Topic. Set the Topic value to /iv_points. Copyright©Seyond, Inc.
  • Page 38 Robin W LiDAR User Manual iii. Select PointCloud2 > Style. Set the Style value to Points. Copyright©Seyond, Inc.
  • Page 39 Robin W LiDAR User Manual (Optional) It is possible to change the angle and distance of the real-time point cloud status to get more information as needed. • Select Axes to add the coordinate system to the diagram as a reference. Select Add >...
  • Page 40 Robin W 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. Copyright©Seyond, Inc.

  • Page 41: Replay Lidar Point Cloud Data

    Robin W LiDAR User Manual 5.2.4 Replay LiDAR point cloud data It is possible to replay the point cloud data in pcap format in ROS2 environment. Note Before replaying LiDAR point cloud data, please confirm that the recorded point cloud data file has been obtained.
  • Page 42 Robin W LiDAR User Manual Click Add. Select By 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 43 Robin W LiDAR User Manual (Optional) It is possible to change the angle and distance of the real-time point cloud status to get more information as needed. • Select Axes to add the coordinate system to the diagram as a reference. Select Add >...
  • Page 44 Robin W 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. There are three options: XY, XZ, and YZ.
  • Page 45 Robin W 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. Copyright©Seyond, Inc.

  • Page 46: Convert The Reference Coordinates Of The Displayed Point Cloud

    Robin W 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 47: Configure The Reflectance Mode And The Return Mode

    Robin W LiDAR User Manual • A value of 1 means that the X-axis is pointing right, the Y-axis is pointing forward, and the Z- axis is pointing up. • A value of 2 means that the X-axis is pointing right, the Y-axis is pointing up, and the Z-axis is pointing forward.

  • Page 48: Configure The Return Mode

    Robin W LiDAR User Manual 5.2.7 Configure the return mode Note Before viewing the point cloud data, please confirm that the point cloud data can be obtained correctly. About how to obtain the point cloud data, see 5.2.2 Obtain point cloud data.

  • Page 49: Change The Distance Limitation For The Displayed Point Cloud

    Robin W LiDAR User Manual 5.2.8 Change the distance limitation for the displayed point cloud Note Before viewing the point cloud data, please confirm that the point cloud data can be obtained correctly. About how to obtain the point cloud data, see 5.2.2 Obtain point cloud data.

  • Page 50: Shut Down The Lidar

    Robin W LiDAR User Manual 5.2.9 Shut down the LiDAR Disconnect the power supply to shut down the LiDAR. 5.3 Operate on ILA The ILA only supports the log and LiDAR version view features. 5.3.1 Start the LiDAR Connect the power supply to start the LiDAR. The LiDAR completes initialization and generates data after powering on for 11 to 18 seconds.

  • Page 51: View The Point Cloud Status Of The Lidar

    Robin W LiDAR User Manual 5.3.3 View the point cloud status of the LiDAR Note Before viewing the point cloud status, please ensure the computer can access to the Internet. While the latest ILA has a built-in WebGL viewer, a more feature-rich viewer is available with an Internet connection. Directly view the status of the LiDAR point cloud in real-time on the View Stream.

  • Page 52: Change The Lidar Ip Address

    Robin W LiDAR User Manual 5.3.4 Change the LiDAR IP address Go to Sensor Config > Adjustable settings. Click to change the IP address, netmask address, and gateway address of the LiDAR according to user needs. Click to save the changes. Click Reboot to reboot the LiDAR.

  • Page 53: Check The Lidar Information

    Robin W LiDAR User Manual Pointcloud server, and UDS. (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 54: Appendix A. Upgrade The Lidar Firmware

    Robin W LiDAR User Manual Appendix A. Upgrade the LiDAR Firmware Note If necessary, please contact Seyond staff to obtain the upgrade package in img format. The upgrade package includes firmware and software upgrades. Connect a computer to LiDAR. Obtain the upgrade package in img format and copy it to a local directory on the computer. Change the computer IP address to the same subnet with the LiDAR and confirm a good Ethernet connection between them.
  • Page 55 Robin W LiDAR User Manual Click Start Recovery/Update to start the upgrade. Power off and restart the system after the upgrade. 10. (Optional) View the version information on the System info. Copyright©Seyond, Inc.

  • Page 56: Appendix B. Abbreviations And Terms

    Robin W LiDAR User Manual Appendix B. Abbreviations and terms Table 5 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 Internet Protocol LiDAR Light Detection and Ranging...
  • Page 57 Robin W LiDAR User Manual Precision Time Protocol (PTP) is a high-precision time synchronization 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 appropriate experience in the relevant field, fully understand the Installer application of protective devices on the machine, and can assess its...

  • Page 58: Appendix C. Revision History

    Robin W1G LiDAR User Manual Appendix C. Revision history Revision history Version number Revised content Revision time Update V1.2.0 2023/11/01 Add the ROS2 operations Update Specifications （# Section 1.5） V1.0.1 2023/09/03 Dimensions（# Section 2.1） V1.0 The first draft 2023/07/28 Copyright©Seyond, Inc.

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