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RoboSense Airy User Manual

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Summary of Contents for RoboSense Airy

  • Page 1 Version 1.0...

  • Page 2: Change Description

    Airy User Guide Change Description Version Revision Date Description 2025/01/02 Initial release...

  • Page 3: Reading Prompt

    Resource Download Please click the following link to download the latest product manual, RSview and other resources: https://www.robosense.ai/en/resources More Information Manufacturer: Suteng Innovation Technology Co., Ltd. (RoboSense). Website: https://www.robosense.ai/en Technical Support: support@robosense.cn Address: Building 9, Block 2, Zhongguan Honghualing Industry Southern...

  • Page 4: Table Of Contents

    Airy User Guide Content Change Description ....................... 1 Reading Prompt ......................2 Content ...........................3 Safety Notices ......................6 Legal Statement ....................6 User Guidelines ....................6 Illegal Operation ....................6 Requirements for Operating Personnel .............7 Work Safety and Special Hazards ..............7 Product Description ....................
  • Page 5 Airy User Guide 4.2.2 Accessing the Web UI Interface ............26 4.2.3 Using the Web UI Interface ..............27 RSView Usage ....................27 4.3.1 Software Functions ................27 4.3.2 Installing RSView .................28 4.3.3 Using RSView ..................28 Communication Protocols ................28 4.4.1 MSOP and DIFOP Data Protocol ............
  • Page 6 Airy User Guide C.9 Time（UTC_TIME） ..................54 C.10 Real-Time motor speed（REALTIME_ROTATION_SPEED） ....54 C.11 Vertical Angle calibration（COR_VERT_ANG） ........54 C.12 Horizontal Angle Calibration（COR_HOR_ANG） ........55 C.13 Mainboard Input Temperature（MAINBOARD_VOLTAGE） ....57 C.14 Device Input Voltage (MACHINE_VOLTAGE) ......... 57 C.15 Baseboard 12V Voltage (BOTTOMBOARD_VOLTAGE（12V） ....57 C.16 Mainboard Transmit Temperature (MAINBOARD_EMIT_TEMP) ...

  • Page 7: Safety Notices

    RoboSense. The word "RoboSense" and other logos and product and service names are owned by RoboSense. If you need to use them for any advertising or displaying purposes, you must obtain prior written authorization from RoboSense.

  • Page 8: Requirements For Operating Personnel

    5) If you notice any abnormal operation of the product, please immediately stop using it and contact RoboSense in a timely manner. Requirements for Operating Personnel The use of this product requires certain basic professional knowledge and other related requirements for operating personnel.
  • Page 9 4) Heed Warnings: All warnings on the product and in the operating instructions should be adhered to. 5) Servicing: Except for what’s described in this manual, the sensor has no field serviceable parts. For servicing, please contact RoboSense sales or the authorized distributors.

  • Page 10: Product Description

    Product Description Product Overview Airy is a new type of short-range 3D LiDAR specifically designed by RoboSense to eliminate blind spots. It is primarily used in applications such as robot environment perception, autonomous vehicle environment perception, drone mapping, and smart cities.

  • Page 11: Fov Distribution

    Used to secure the LiDAR to the mounting bracket with M3 screws. FOV Distribution Airy's FOV has a horizontal angular range of 0 to 360 degrees and a vertical angular range of 0 to 90 degrees, with an angular interval of approximately 0.947 degrees.

  • Page 12: Specifications

    Airy User Guide point cloud unavailability per second, meaning one out of every 10 frames of point cloud data has a gap of about 32°. The starting angle of this gap can be configured in mass production firmware, allowing users to set it to a position with minimal impact based on actual needs.

  • Page 13: Product Principle

    Cartesian X, Y, Z axes. 2.5.2 Reflectivity Interpretation Airy LiDAR provides reflectivity information to characterize the reflectance of measured objects. In Airy data, the calibrated reflectivity range is from 1 to 255. 2.5.3 Return Modes 2.5.3.1 Return Modes Principle Airy supports multiple return modes, including Strongest Return, Last Return, First Return, and Dual Return modes.

  • Page 14: Phase Locking

    Figure 2. 2.5.3.2 Return Mode Flags The default setting for Airy at the factory is Strongest Return mode. Users need to change this setting, they can configure it in the product echo mode parameters on the web. In DIFOP, the 300th byte is the flag bit for the return mode. For details, refer to Table 2.

  • Page 15: Time Synchronization Method

    2.5.5 Time Synchronization Method Airy supports three time synchronization methods: GPS, PTP (IEEE 1588 V2 protocol), and gPTP (IEEE 802.1 AS protocol). Users can configure these settings through the Web interface. For more details, refer to section 4.2 of the product manual.
  • Page 16 The external GPS module needs to set the output serial port baud rate to 9600 bps, 8 data bits, no parity bit, and 1 stop bit. Airy only reads GPRMC-formatted data sent by the GPS module. The standard format is as follows: $ GPRMC,<1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>,<9>,<10>,<11>,<12>...
  • Page 17 *hh at the end represents the XOR sum of characters from $ to * Note: The GPS_REC interface specification on the Airy power box is SM2.54 male connector; The interval for sending 1 PPS pulse should be controlled within 1s ± 200 us;...
  • Page 18 4) Devices that support PTP/gPTP protocols and need time synchronization. Note: The PTP Master device is a third-party device and is not included in the RoboSense shipment. The user needs to purchase it separately. RoboSense products, as Slave devices, only receive time from the Master and do not judge the accuracy of the Master's clock source.

  • Page 19: Product Installation

    Airy User Guide Product Installation Accessory Description The standard accessories included with Airy LiDAR are listed in Table 4 for reference. Standard Accessory List Accessory Name Specification Quantity LiDAR Airy Screw Pack M3*8 Screw Pack(optional) M3*12 Interface Cable(optional) 1.5m Power Adapter(optional) DC12 V ×...
  • Page 20 Airy User Guide anti-loosening; 2) Installation Requirements a) The flatness of the installation surface should be better than 0.2 mm. b) Use 3 M3 screws to install on the base, extending 4 – 5 mm from the installation surface. Recommended tightening torque is 13 ±1 kgf.cm.

  • Page 21: Interface Description

    Field Application Engineer (FAE) in advance to determine a suitable cooling solution and prevent the LiDAR from overheating, which could affect the product's performance or lifespan. Interface Description 3.3.1 Aviation Plug Interface and Definitions The cable aviation plug on the Airy LiDAR side is shown in Figure 8.
  • Page 22 Airy User Guide Aviation Plug Interface Pin Numbers The specific pin definitions of the aviation plug interface on the LiDAR side are shown in Table 5. Aviation Plug Interface Pin Definitions Pin No. Spec Signal 26AWG 2P(RX+) 26AWG 2N(RX-) 26AWG...

  • Page 23: Interface Cable (Optional)

    Airy User Guide 3.3.2 Interface Cable (Optional) The optional accessory Interface cable for Airy is shown in the Figure 9 below: Interface Cable For detailed specifications of the interfaces on the Interface cable, please refer to Table 6. Interface cable Interface Specifications...

  • Page 24: Rj45 Ethernet Port

    The Airy Ethernet interface follows the EIA/TIA568B standard. 3.3.5 GPS Sync Interface The Airy sync interface is defined as follows: GPS REC is for GPS UART input, and GPS PULSE is for GPS PPS input. Important Note: When connecting the "Ground" of Airy to an external system, the power supply negative pole ("Ground") of the external system and the GPS system's "Ground"...
  • Page 25 Airy User Guide power indicator lights on the LiDAR's Interface Box will be constantly Interface Cable Connection Diagram 2) Through the ".pcap" packets captured by Wireshark software, get the Local IP of Computer by analyzing " arp" packets a) Perform the following steps after the LiDAR and PC are connected:Start Wireshark (a third-party network analysis tool) and select the correct network interface to begin capturing packet.
  • Page 26 Airy User Guide successful, proceed to step 4. 3) Configuring the PC's Local IP a) In the Control Panel, go to "Network and Internet" and then "Network and Sharing Center." In the "View your active networks" section, click on the corresponding Ethernet connection to enter the corresponding "Ethernet Status,"...

  • Page 27: Product Usage

    Airy supports parameter settings, viewing of operational information/status, and firmware upgrades through the Web UI interface. The Airy web address changes according to the Device IP. The default Device IP is 192.168.1.200. If you have changed the Device IP, the web address will be the newly set IP.

  • Page 28: Using The Web Ui Interface

    For detailed instructions on using the Web UI interface, please refer to Appendix A of the product manual. RSView Usage For data visualization with Airy, you can use free tools such as Wireshark and tcp-dump to obtain raw data. RSView can provide a more convenient way to visualize the raw data.

  • Page 29: Installing Rsview

    "RS-LiDAR User Guide" option in the Help menu. Communication Protocols Airy communicates with a computer via Ethernet using UDP (User Datagram Protocol). The communication protocols between Airy and the computer fall into two categories, as described in Table 8. Protocol Overview...

  • Page 30: Main Data Stream Output Protocol (Msop)

    Airy User Guide LiDAR Data Structure Diagram 4.4.2 Main Data Stream Output Protocol (MSOP) Main Data Stream Output Protocol: Main data Stream Output Protocol, abbreviated as MSOP. I/O Type: Product output, computer parsing. The default factory port number is 6699 4.4.2.1 Header...
  • Page 31 Airy User Guide Timestamp, first 6 bytes timestamp indicate seconds, last 4 bytes indicate nanoseconds lidar_type 0x10：airy lidar_model 0x02:96 beams； Note: The defined timestamp is used to record the system time with a resolution of 1 μs. For details, refer to the time definition in Appendix A.10 of the product manual.
  • Page 32 Airy User Guide 1) Channel Data Definition Channel data is 3 bytes, with the high two bytes used to represent distance information and the low one byte used to represent reflectivity information, as shown in Table 11 . Channel Data Channel data（3 bytes）...

  • Page 33: Device Info Output Protocol (Difop)

    The resulting reflectivity value is 110 2) Angle Value Definition: In each Block, the angle value output by Airy is the angle at which the first channel laser rangefinding occurs. This angle value is derived from the angle encoder, where the zero position of the angle encoder is the zero point of the angle.
  • Page 34 Airy User Guide information, configuration information, angle information, running status, fault diagnosis, etc., to users. Users can read DIFOP to interpret specific information about the currently used product. A complete DIFOP packet has a data format structure of synchronization header, data area, and tail.
  • Page 35 Airy User Guide Time Sync Status Time Appendix C.9 Reserved Real-time motor Appendix C.10 speed Reserved Vertical Angle Appendix C.11 calibration Horizontal Angle Appendix C.12 calibration Mainboard Total 1044 Appendix C.13 Input Voltage Device Input 1066 Appendix C.14 Voltage Baseboard 12V...

  • Page 36: Product Maintenance

    Airy User Guide Product Maintenance Transportation and Logistics Important Improper transportation can cause product damage! 1) The product should be packaged with shockproof and moisture-proof materials to avoid damage during transportation. It is recommended to use the original packaging; 2) Handle with care during transportation to avoid impact or dropping;...

  • Page 37: Precautions

    Airy User Guide RS-LiDAR's circular protective cover clean. 5.3.1 Precautions Before cleaning the RS-LiDAR, carefully read and understand the content of this section. Improper cleaning may damage the product. When using the LiDAR in harsh environmental conditions, clean the surface regularly to keep the LiDAR clean.
  • Page 38 Airy User Guide and dry dust-free cloth.

  • Page 39: Fault Diagnosis

    Airy User Guide Fault Diagnosis This chapter lists some common problems encountered during the use of the product and their corresponding troubleshooting methods. For details, refer to Table Common Fault Troubleshooting Methods Fault Phenomenon Solution Check whether the connector cable on the aviation plug...
  • Page 40 Airy User Guide Table 12 (Continuation) Fault Phenomenon Solution Confirm if there is a large number of other network packets or network conflicts in the network; Confirm if there are other network products sending a large amount of data in broadcast mode, causing sensor data The Product Has Frequent Data blocking;...
  • Page 41 Airy User Guide RoboSense for further assistance.

  • Page 42: After-Sales Service

    Email: support@robosense.cn Phone: +86-0755-86325830 / +86-15338772453 Additional Information: Please wait for a confirmation response from RoboSense after-sales service before sending the product back. When sending the product back, please use the original packaging or an equivalent cushioned and moisture-resistant packaging.

  • Page 43: Web Ui Operation

    Airy User Guide Web UI operation Product information The Lidar Web UI defaults to the product information page, as shown in Figure Web page information (1) Top Board Firmware Version Indicates the mainboard firmware version; (2) Bottom Board Firmware Version Indicates the baseboard firmware version;...

  • Page 44: A.2.1 General Setting

    Airy User Guide A.2.1 General Setting The "General Setting" bar at the end of the web page is the basic parameter setting page of LiDAR, where you can change the Settings of Device IP, port number, echo mode, speed and Angle trigger. The schematic diagram and...
  • Page 45 Airy User Guide request requests from other nodes; (7) Drop down "No Leap Second" to select OFF (default) and ON to determine whether to respond to the leap second deviation setting of the announce packet; (8) Change the timeout period (5s by default) for the device to exit the time synchronization state due to the loss of the time master message.

  • Page 46: A.2.2 Performance Setting

    Airy User Guide (18) Drop down "Gyro Range" and select [-250,250]dps/[-500,500]dps (default) /[-1000,1000]dps/[-2000,2000]dps to change the range of the IMU gyroscope; (19) To confirm whether the” Restore Default” function is enabled, select OFF and ON from the Restore Default drop-down list.

  • Page 47: A.2.3 Angle Pulse Setting

    25% (default), and mode 2 does not increase the starting pulse width; (2) Group: This column indicates the SYNC OUT group. Airy includes SYNC OUT1; (3) Pulse Trigger Switch: Enable or disable the Trigger function. When ON is selected for Pulse Trigger Switch, the editable state is enabled, and the editable state is gray when the Pulse trigger switch is disabled;...

  • Page 48: Product Diagnostics/Operational Status

    Airy User Guide network segment; otherwise, the connection may fail; (2) The MSOP and DIFOP values range from 1025 to 65535, and the MSOP port and DIFOP port cannot be the same port; (3) After the change is complete, click "Save" to save it. If a ‘ successful ’...

  • Page 49: Product Firmware Upgrade

    Click on the webpage "System", this page can upgrade the firmware of the product App, baseboard and mainboard, as follows: (1) Please contact RoboSense to get the firmware upgrade. When the firmware to be upgraded is ready, click "Select File", as shown in Figure 20;...
  • Page 50 Airy User Guide Select the file in the path where the upgrade package is stored (3) At this time, the file name of the firmware to be upgraded will be displayed on the web interface. Select the corresponding upgrade button to upgrade the corresponding firmware, as shown in Figure 22.

  • Page 51: R0S&Ros2 Package

    SDK for ROS platform. Please download it from RoboSense homepage on github or contact RoboSense to obtain it. (1) rslidar_sdk relies on rs_driver, which is the basic driver of RoboSense. Download rs_driver from github; (2) If ROS2 is used,rslidar_sdk also relies on rslidar_msg, which is the msg definition file, which can be downloaded from github;...

  • Page 52: Difop Data Definitions

    Airy User Guide DIFOP Data Definitions This appendix supplements the definitions of each item in the DIFOP protocol outlined in Section 4.4.3, facilitating user understanding for product use and development. For calculations, big-endian mode is used, and "Value" represents the decimal number derived from the corresponding offset bytes.

  • Page 53: Mainboard Firmware Version (Top_Frm)

    Airy User Guide 4) MSOP and DIFOP each occupy 2 bytes, and the source and destination port numbers are required to be identical. C.3 Mainboard Firmware Version (TOP_FRM) Mainboard Firmware Version Mainboard Firmware Version（5 bytes） byte 1 byte 2 byte 3 byte 4 byte 5 Fun.

  • Page 54: Motor Firmware Version (Mot_Frm)

    Airy User Guide and byte 5 = 0x12, then the firmware version number is: 00 36 18 19 08. C.6 Motor Firmware Version (MOT_FRM) Motor Firmware Version Motor Firmware Version（5 bytes） byte 1 byte 2 byte 3 byte 4 byte 5 Fun.

  • Page 55: Time（Utc_Time

    Airy User Guide 0x01: E2E-L4 0x02: P2P 0x03: gPTP 0x04: E2E-L2 Byte 2 is the time synchronization success status bit, defined as follows: 0x00: Not synchronized 0x01: Synchronized successfully C.9 Time（UTC_TIME） Register of Time Register of Time（10 bytes） byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7 byte 8 byte 9 byte10 Fun.

  • Page 56: Horizontal Angle Calibration（Cor_Hor_Ang

    Airy User Guide Channel 1 vertical Angle Channel 2 vertical Angle Channel 3 vertical Angle Fun. byte 10 byte 11 byte 12 byte 13 byte 14 byte 15 byte 16 byte 17 byte 18 Channel 4 vertical Angle Channel 5 vertical Angle Channel 6 vertical Angle Fun.
  • Page 57 Airy User Guide Horizontal Angle calibration register（288bytes） byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7 byte 8 byte 9 Channel 1 Horizontal Angle Channel 2 Horizontal Angle Channel 3 Horizontal Angle FUN. byte 10...

  • Page 58: Mainboard Input Temperature（Mainboard_Voltage

    Airy User Guide horizontal offset Angle of channel 5 is -1.74° C.13 Mainboard Input Temperature（ ） MAINBOARD_VOLTAGE Mainboard Transmit Temperature byte 1 byte 2 Fun. Mainboard Emit Temp Register Description 1) This register is used to read the mainboard input voltage of the device.

  • Page 59: C.17 Imu Calibration Data（Imu_Calib_Data

    Airy User Guide Fun. Mainboard Emit Temp Register Description 1) This register is used to read the motherboard emission temperature of the device; 2) Unit: ℃. The voltage value consists of 2 bytes. Formula: Mainboard Emit Temp = Value / 100.

  • Page 60: Channel Distance Measuring Ability Corresponding Table

    Airy User Guide Channel distance measuring ability corresponding table ranging@10 ranging@10 Farthest Farthest vertical vertical Channel ranging Channel ranging angle（°） angle（°） Target Target （m） （m） reflector（m） reflector（m） -0.07 45.05 0.88 1.81 46.95 2.76 47.9 3.69 48.85 4.62 49.8 5.54 50.73 6.48...
  • Page 61 Airy User Guide 31.88 77.19 32.82 78.14 33.74 79.07 34.68 80.02 35.62 80.96 36.55 81.9 37.5 82.84 38.43 83.78 39.37 84.7 40.31 85.64 41.25 86.57 42.21 87.52 43.16 88.46 44.09 89.4...

  • Page 62: Structural Drawings

    Airy User Guide Structural Drawings...

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