Page 1 LiMobile M2 Mobile Laser Scanning system User Guide...
Page 2: Reading Instructions
GVI Users need to use the original battery and accessories of LiMobile M2. If users use non-dedicated batteries or chargers, it may cause accidents such as unstable voltage, explosion and combustion of the equipment system. Once used, GVI will not bear the relevant responsibilities and the warranty qualification will be invalid.
Page 4: Table Of Contents
Contents 1 Safety Instructions ..........................7 1.1 Overview ..........................7 1.2 Responsibilities ........................7 1.3 Usage Environment Restrictions ..................... 7 1.4 Laser Safety ..........................7 1.5 Battery and Cable Safety ......................8 1.6 General Operational Safety ......................8 1.7 Electromagnetic compatibility ....................9 2 Product Introduction ......................... 10 2.1 Equipment Structure Diagram ....................
Page 5 7.6.8 Device Shutdown ......................64 7.7 Other Operational Instructions ....................64 7.7.1 Offline Map Download ....................64 7.7.2 Route Planning ......................66 7.7.3 Calibration File Update ....................67 7.7.4 Firmware and Software Version Update ..............68 7.7.5 GreenValley APP Update ................... 71 8 Data Processing ..........................75...
Page 6 8.1 Preparation ..........................75 8.1.1 Hardware Preparation ....................75 8.1.2 Data Structure Overview .................... 76 8.2 Data Processing and Output ....................77 8.2.1 New Mobile Project ....................77 8.2.2 Data Copy and Quality Check ..................78 8.2.3 Parameter Settings ...................... 82 8.2.4 One-Click Batch Data Processing ................88 9 Equipment Maintenance Instructions ....................
Page 7: Safety Instructions
1 Safety Instructions 1.1 Overview The following instructions clearly define the responsibilities of the product owner and the actual user of the equipment, as well as how to prevent and avoid dangerous operations. For user safety considerations, the product owner and the actual user of the equipment must read this manual carefully and follow the operating specifications in the manual before use.
Page 8: Battery And Cable Safety
Warning Do not operate an obviously damaged instrument. Warning Do not point the emitter aperture at the human eye. 1.5 Battery and Cable Safety Warning Please use the specific charger provided to charge the battery. It is recommended to use the provided AC/DC power solution and battery charger to power the device. Warning It is strictly forbidden to expose the battery to any liquid, do not immerse the battery in water or wet it.
Page 9: Electromagnetic Compatibility
Warning Avoid using this device in snow, rain, fog, thunderstorms, or strong sunlight. Pay attention to the operating temperature of the device. Warning Warning To avoid the risk of suffocation, keep plastic foil, bags and bubble wrap away from infants and children. Do not use the device if it has obvious noise, alarm or is damaged, and contact the manufacturer's Warning technicians for repair in time.
Page 10: Product Introduction
2 Product Introduction The LiMobile M2 affordable mobile laser scanning (MLS) system is equipped with two LiDAR sensors (one tilted at a 30-degree angle and one positioned horizontally) and a Ladybug5+ panoramic camera, enabling efficient 3D mapping of roads and surrounding environments. Even in GPS-denied areas, high-precision scanning can be achieved with the help of laser SLAM.
Page 11: Device Description
(3) Planar Camera 2.2 Device Description...
Page 12: Device List
1. LiDAR 2. EXT: Extended Debugging Port 3. ODO: DMI Sensor Port 4. GNSS: Backup Antenna Port 5. Device Power Indicator 6. LAN: Ethernet Port 7. POW: Power Cable Port 8. Swivel Plate 9. Pavement Camera 10. Support Structure Component 11.
Page 13: Battery Accessory Case
Quantity Items Tablet Tablet Charger Type-C to Ethernet Adapter RJ45 Ethernet Cable LEMO Ethernet Cable External Power Cable LiDAR Protector Cover CFE Card Reader Cleaning Set Hook and Loop Fastener CFE Card Set (2 Disks) Sensor Unit Sensor Unit Rain Cover 2.3.2 Battery Accessory Case...
Page 14: Roof Rack Case
Quantity Items Wi-Fi Antenna Battery Box Tool Kit Battery Charger 2.3.3 Roof Rack Case...
Page 15: Dmi Case (Optional)
Items Quantity Support Structure Component Dust Removal Tool Kit Roof Rack Roof Rack Knob Screw 2.3.4 DMI Case (Optional)
Page 16: Planar Camera Case (Optional)
Quantity Items Socket Gripper Universal Chuck Guide Mounting Bracket DMI Main Component Suction Cup Adjustable Wrench DMI Storage Bag DMI Protection Rope Socket Fixing Screw Suction Cup Fixing Screw Chuck Fixing Screw 2.3.5 Planar Camera Case (Optional)
Page 17: Technical Specifications
Items Quantity T-Handle Hex Key Tool Pavement Camera Set Front Camera Set Pavement Camera Cable Front Camera Cable Pavement Camera Mounting Screw Front Camera Mounting Screw 2.4 Technical Specifications 2.4.1 System Parameters Performance Indicator Parameter Dimensions 508.5×263×531.5 mm Roof Rack Dimensions 730×350×95 mm Planar Camera Dimensions 258×199×84 mm...
Page 18: Integrated Navigation Parameters
Current Frequency Band 2.4~2.4835GHz、5.15~5.85GHz Communication Standard IEEE 802.11 a/b/g/n/ac/ax, CSMA/CA Security Type WPA2-PSK (Encryption Mode) Effective Connection Distance Wi-Fi SSID: LiMobile_xxxx Default Password greenvalley 2.4.7 Tablet Parameters Performance Indicator Parameter Resolution 1920*1200 Screen Size 11 inches Network Type 5 GB + Wi-Fi...
Page 19 1.Our company reserves the right to update the manual content at any time to reflect the latest product information. The hardware specifications and detailed technical parameters of the LiMobile M2 equipment are subject to the actual product and packing list.
Page 20: Equipment Requirements
3 Equipment Requirements 3.1 Collection Environment Requirements For the sake of car driving safety, it is not recommended to use the equipment in weather conditions such as rain, snow or fog. In addition, under such weather conditions, the point cloud data will also have more noise. It is not recommended to use it frequently in strong winds, dusty environments, or other similar conditions which will affect the service life of the equipment and cause the point cloud data to have more noise.
Page 21: Equipment Installation
3.3 Equipment Installation Check that the connections between the luggage rack crossbar, the roof rack, and the car are stable, and ensure that the bayonet or screw is tightened. Check whether there are cracks on the roof rack and the luggage rack crossbar. After pulling out the roof rack, ensure that the knob is tightened.
Page 22: Collection Completion
Do not use the device if it has obvious noise, alarm sound or is damaged, and contact the manufacturer's technicians for repair in time. Forced use may cause permanent damage to the device. Do not attempt to repair damaged parts of the device without authorization. Please do not upgrade the tablet's operating system.
Page 23: Overall Description Of The Mobile Laser Scanning System Workflow
4 Overall Description of the Mobile Laser Scanning System Workflow Field Survey of the Operation Area Collection Prediction of Target Point Layout Preparation Route Planning Main Sensor Units Installation Equipment Planar Camera Installation Installation DMI Installation Base Station Setup Data Collection Data Collection Software Upgrade Data Copy and Integrity Check...
Page 24: Collection Preparation Work
5 Collection preparation work 5.1 Field Survey of the Operation Area Investigate the actual traffic conditions of the road section to be measured (including but not limited to objective traffic congestion, vehicle speed limits, whether both main and auxiliary roads can be collected, traffic restrictions, etc.).
Page 25 During the collection process, the entire road must be captured (including turning lanes), with no missing sections. The road data should be collected by driving along the centerline of the road. Long, straight sections should be prioritized, avoiding frequent turns or loops. Lane changes should also be minimized.
Page 26: Vehicle Driving Requirements
When collecting data from a roundabout, the entire roundabout must be enclosed. The vehicle needs to drive along the innermost lane of the roundabout to capture the actual shape of the roundabout. Interchanges are more complex, so to ensure road connectivity, every ramp of the interchange must be fully collected.
Page 27: Device Installation
6 Device Installation 6.1 Main Sensor Unit Installation 6.1.1 Roof Rack and Luggage Rack Crossbar Installation 1. Place the roof rack upside down on the ground and place the luggage rack crossbar in the positioning slot underneath it. Notes: ✫ 1.
Page 28 3. Place the luggage rack crossbar and roof rack on the vehicle roof, and use an Allen wrench to tighten the four mounting clamps on the luggage rack crossbar. Notes: ✫ 1.Install the equipment towards the rear of the vehicle to minimize obstruction. 2.The distance between the positioning slots of the roof rack can be adjusted based on the vehicle model.
Page 29: Support Structure Component Installation
6. Manually tighten the four fixing screws in the locking direction. 6.1.2 Support Structure Component Installation 1. Align the support structure with the holes under the roof rack and tighten the top fixing knob. 2. Rotate the black knob at the bottom to lower the suction cup of the support structure until it touches the vehicle body.
Page 30: Main Sensor Unit Installation
3. Rotate the light gray knob in the middle to the top of the black knob to secure it. 4. As shown in the diagram, turn the switch on the suction cup to the locked position. 6.1.3 Main Sensor Unit Installation 1.
Page 31 2. Lift the main equipment and place it on the roof rack, then push it in the direction of the arrow until it reaches the limit. 3. Press the safety buttons on both sides downward. 4. Lift the central locking block of the roof rack and rotate it clockwise to tighten the lock.
Page 32: Rotation Of The Sensor Unit (Optional)
6.1.4 Rotation of the Sensor Unit (Optional) 1. Manually loosen the fixing screws on both sides of the swivel plate. 2. Choose an appropriate angle based on the scale on the side of the swivel plate to rotate the equipment.
Page 33 3. Manually tighten the swivel plate fixing screws on both sides of the equipment. ✫ Note: The device supports multi-angle installation and can be adjusted horizontally at 0, ±15°, ±30°, ±45°.
Page 34: Battery Installation
6.1.5 Battery Installation 1. As shown in the diagram, insert the battery into the battery compartment. ✫ Notes: 1. Ensure the battery is installed in the correct direction as shown in the diagram. Reverse insertion is prohibited. 2. Press down on the battery to check if it is securely installed.
Page 35: Cable Connection
6.1.7 Cable Connection 1. Use the power cable to connect the DC-OUT port of the battery compartment to the POW port of the main equipment. 2. Use the network cable to connect the LAN port of the multifunctional battery compartment to the LAN port of the main equipment system.
Page 36 Note: Ensure distinguish ✫ between the network cable ports at both ends to prevent equipment damage due to incorrect plugging.
Page 37: Pavement Camera Installation (Optional)
6.2 Pavement Camera Installation (Optional) 1. As shown in the diagram, connect the pavement camera cable. 2. Use an Allen wrench to tighten the two fixing screws and secure the road surface camera to the roof rack. 3. Insert the other end of the pavement camera cable into the device’s CAM2 port.
Page 38: Front Camera Installation (Optional)
6.3 Front Camera Installation (Optional) 1. As shown in the diagram, connect the front camera cable. 2. Use an Allen wrench to tighten the three fixing screws and secure the front camera to the front end of the roof rack. 3.
Page 39: Dmi Installation (Optional)
6.4 DMI Installation (Optional) 6.4.1 Preparatory Work 1. Use tools to remove the screw protective cap on the right rear wheel hub of the data collection vehicle. ✫ Note: The DMI must be installed on the right rear wheel of the collection vehicle.
Page 40 Tighten the internal claw of the socket around the hub screw, use a tool to tighten the front screw of the socket until the entire socket assembly fits snugly against the hub screw. ✫ Note: When the resistance of the screw increases, users can reverse the screw half a turn before continuing to tighten.
Page 41: Main Component Of The Dmi Installation
6.4.3 Main Component of the DMI Installation 1. Tighten the chuck fixing screw with an Allen wrench to secure the chuck to the main component of the DMI. 2. Align the holes of the chuck with the screw holes at the top of the socket. Once aligned, use the socket fixing screws to secure them together.
Page 42 2. After tightening the screws, remove the yellow protective cover from the bottom of the suction cup. Thread the DMI cable and cable conduit through the socket of the fastener. Move the suction cup fastener to a suitable position so that the wire harness is vertical to the ground, and adjust the position of the suction cup so that the air valve faces upward.
Page 43: Cable Connection
Press firmly on the suction cup, continuously pressing down on the blue piston until the suction cup is fully attached. ✫ Note: Please remove the white cotton pad before pressing the blue piston. 6.4.5 Cable Connection 1. Insert the DMI cable into the ODO port on the side of the device main body.
Page 44: Parameter Measurement
6.4.6 Parameter Measurement 1. When calculating the wheel speed sensor data, it is necessary to add the lever arm value x of the wheel speed sensor and the wheel circumference. Therefore, users need to measure these after installation. ✫ Notes: 1.As shown in the figure, the lever arm value x is the horizontal distance between the center position of the device and the center position of the wheel.
Page 45: Field Data Collection
2. The base station setup time must fully cover the data collection time, with an additional 15 minutes before and after. 3. Multi-base station data trajectory resolution requires assistance from third-party software. 7.2 User Registration and Sign In 1. The LiMobile M2 device requires signin to the GreenValley account. Connect the tablet to the internet. After opening the APP, the Sign In interface will appear.
Page 46: Power On The Device
3. Enter the username and password, then click the Sign In button to complete the login. 4. After successful login, the app will redirect to the Device Not Connected interface, indicating a successful login. 7.3 Power on the Device 7.3.1 Battery Power Supply 1.
Page 47 The device also supports external power supply mode. If using external power, it is recommended to use an AC voltage of 110 V~220 V outdoor power source (with a power rating of 1000W or higher). 1. Connect the device battery box and the outdoor power source as shown in the diagram.
Page 48: Device Connection
7.4 Device Connection 7.4.1 Wi-Fi Connection Search for the Wi-Fi name: LiMobileM2_xxxx on the mobile device. Enter the default Wi-Fi password: greenvalley. ✫ Note: "xxxx" refers to the last four digits of the device's serial number (SN). 7.4.2 Wired Connection 1.
Page 49: App Interface Overview
2. Connect the other end of the RJ45 Ethernet cable to the battery box's Ethernet port. 7.5 APP Interface Overview 7.5.1 Top Device Status Bar 1. Account Management Button User Management Interface: Users can view GreenValley account information, activated status, and perform operations such as Sign Out.
Page 50 2. Device Connection Status Tablet disconnected from the device. Tablet successfully connected to the device. 3. Device Status Information PDOP Value: Generally, a value less than 2 indicates good signal quality, suitable for data collection. Satellite Count: Displays the number of satellites tracked by the device. Device Temperature: Displays the internal temperature of the device.
Page 51: Left Toolbar
Sensor Connection Status (IMU, LiDAR, Panoramic Camera, Planar Camera). Green: Sensor is synchronized and ready for collection. Yellow: Sensor is activated but not synchronized. Red: Sensor is connected but not activated. Gray: Sensor is not connected. 4. Device Power Button Power Button Disabled when the device is not connected.
Page 52: Bottom Information Panel
Configuration Button: Refer to Sections 7.6.2, 7.7.3, 7.7.4, and 7.7.5 for detailed settings. Log Button: Users can view real-time operation logs. The app supports voice alerts for important reminders. FAQ Button: Users can quickly access common device issues. 7.5.3 Bottom Information Panel Displays information such as Distance, Speed, available disk space (yellow warning if below 10%, red warning if below 3%), Pitch, Roll, Heading, Latitude, Longitude, and Height.
Page 53: Main Interface
7.5.4 Main Interface 1. Map Function Buttons Follow Button: Click to rotate the map according to the driving direction. Location Button: Click to jump to the current device location on the map. Map Switch Button: Click to switch between satellite and navigation maps. Trajectory Upload Button: Click to upload planned trajectory files (.kml/.kmz/.ovkml/.ovkmz/*.txt) from the tablet.
Page 54 Pointer Button: Click to reset the map orientation to north. 2. Collection Operation Buttons New Project Button Start Data Recording Button Pause Data Recording Button Stop Data Recording Button Project Collection Time 3. Data Preview Window Single-frame Point Cloud Preview: Click the thumbnail to enlarge. Displays data from both LiDARs.
Page 55: Quick Data Collection
Panoramic Image Preview: Click the thumbnail to enlarge. Camera 1-5 correspond to the side cameras (starting from Camera 0, counterclockwise when viewed from above). Camera 6 corresponds to the top camera. Planar Image Preview: Click the thumbnail to enlarge. 4. User Prompt 7.6 Quick Data Collection 7.6.1 Device Initialization After powering on the device, establish communication between the device and the tablet.
Page 56: Sensor Parameter Settings
7.6.2 Sensor Parameter Settings After device initialization, click the Settings button in the toolbar to configure parameters for the navigation system, panoramic camera, and planar camera. Navigation DMI Enable Settings: The device will record data only after it is enabled. Wheel Size: Used to calculate driving distance.
Page 57: New Project
Panorama Panorama Enable Settings: The device will record data only after it is enabled. Trigger Mode: supports By Time and By Distance trigger modes. 1. By Time Frame Rate: default parameter 5 FPS. 2. By Distance Interval: default parameter 5 m. Data Format: supports LADYBUG_DATAFORMAT_RAW8 and LADYBUG_DATAFORMAT_COLOR_SEP_JPEG8 formats.
Page 58: Imu Alignment
✫ Notes: 1. The name of the newly created project should not contain special characters. 2. The final project name is: User-defined name_UTC time. 7.6.4 IMU Alignment After creating a new project, the IMU Alignment pop-up window will automatically pop up on the interface. The IMU Alignment operation is divided into two steps: Static Alignment and Dynamic Alignment.
Page 59 Dynamic Alignment: The user needs to follow the diagram and first accelerate forward to 40 km/h and decelerate to 10 km/h, and then turn around. Then accelerate forward to 40 km/h, decelerate to 10 km/h, and turn around again. Finally, repeat the above acceleration, deceleration, and U-turn operations. Click the OK button when finished.
Page 60 7.6.5 Start Data Recording According to the prompt at the top of the main interface, click the Start Recording button, and the device will begin recording sensor data. Users can view the driving route of the equipment in real time on the map, and can also view the collected single-frame point cloud data and image data in real time.
Page 61 ✫ Notes: 1. When users encounter situations such as the need to transfer the work area or traffic jams during data collection, they can click the "Pause Recording" button to pause data recording.
Page 62: Stop Data Recording
2. After the pause of data recording ends, users can click the "Start Recording" button again to obtain data. 7.6.6 Stop Data Recording After the collection is completed, click the "Stop Recording" button. 7.6.7 IMU Alignment and Close Project...
Page 63 After stopping data recording, the interface will automatically pop up the INS Alignment window. The INS alignment operation consists of two steps: Dynamic Alignment and Static Alignment. Dynamic Alignment: The user needs to follow the diagram and first accelerate forward to 40 km/h and decelerate to 10 km/h, and then turn around.
Page 64: Device Shutdown
7.6.8 Device Shutdown After completing all data collection tasks, click the power button in the upper right corner to shut down the device. ✫ Notes: Please wait patiently for 30 seconds (the time required for the equipment system to be completely shut down). Do not perform any operations until the interface shows that the equipment connection is disconnected, and then turn off the equipment power.
Page 65 1. Connect the tablet to an internet-enabled network and click the offline map download function button on the left to bring up the function menu. 2. Click the Map Zoom Selection button to set the map level range. 3. Click the Draw Area button to delineate the download area.
Page 66: Route Planning
4. If the selected area is incorrect, click the Clear Selected Area button and redraw the download area. 5. Click the Map Download button to complete the map download. 7.7.2 Route Planning 1. Users need to generate a collection planning route file in advance using online mapping software such as Google Earth or professional GIS software like ArcGIS, QGIS, or LiDAR360MLS (the software supports formats such as *.kml, *.kmz, *.ovkml, *.ovkmz, *.txt, etc.), and import the generated file into the tablet.
Page 67: Calibration File Update
7.7.3 Calibration File Update 1. Users need to save the new calibration file (SN.cal) in the LiMobileSystem->Cal directory under the root directory of the M2_SYS disk and insert the disk into the device. 2. Open the APP and connect to the device, then click the Update button on the Calibration File settings interface.
Page 68: Firmware And Software Version Update
7.7.4 Firmware and Software Version Update The device software and firmware will be packaged into a comprehensive update package for version updates. The device supports both local and online update modes, allowing users to choose flexibly. ● Online Update 1. Open the APP and connect to the device, click the Online Update button on the Version interface.
Page 69 3. Switch back to the APP interface, click the Online Update button again, the update dialog box will pop up, and click the Update button to download the comprehensive update package of firmware and software. 4. After the download is complete, click Firmware download...
Page 70 5. Follow the prompts to switch networks. 6. Switch back to the APP interface, click Firmware download completion, click to install button again. 7. After the update is successful, click the OK button and restart the APP. ✫ Note: 1. After the firmware and software update, the device will automatically shut down.
Page 71: Greenvalley App Update
APP to check whether the version number of the configuration interface has been updated successfully. 7.7.5 GreenValley APP Update 1. Use a tablet to scan the QR code , or enter the URL https://licloud.greenvalleyintl.com/api/v1/softwares/184/package...
Page 72 2. Open the APP and connect to the device, click the APP update button on the version number interface, the user can view the update information in the pop-up window, click the Update Now button, and the software will automatically start updating.
Page 73 3. After the progress bar completes, the following interface will pop up. Click the Update button.
Page 74 ✫ Notes: 1.Uninstallation is required before installation. 2.The installation package name is LiMobile_3.x.xxxx_xxxxxxxx.apk. 3.Users should use the shipped tablet for APP upgrade installation. Our company will not be responsible for any collection issues caused by changing the collection mobile device. 4.After the APP is successfully installed, the first time it is launched, application permission prompts will appear.
Page 75: Data Processing
▪ During LiMobile M2 data collection, a project folder with the same name is created in the data folder on both disks for data integration. The project folder name is the custom project name entered during data collection in the APP, followed by the UTC time.
Page 76: Data Structure Overview
8. After each data copy, promptly check the remaining disk space and clear the data as needed. Additionally, users should regularly and timely perform disk formatting operations. For specific steps, please refer to Attachment 2: "Disk Formatting Instructions". 8.1.2 Data Structure Overview The complete data structure of LiMobile M2 is shown in the figure below.
Page 77: Data Processing And Output
The LiMobile M2 project folder contains six folders and a *.live file: ▪ Base: Empty by default. Users can manually copy base station data files here. The LiDAR360MLS software will automatically recognize them during preprocessing. ▪ CameraRaw: Stores image data collected by the cameras. Contains two subfolders: ▫...
Page 78: Data Copy And Quality Check
8.2.2 Data Copy and Quality Check 1. Click the Data Copy button in the top-left corner of the software interface to open the Merge Data dialog.
Page 79 2. Follow these steps: (1) Check Only show external drives. (2) Select the disk drive corresponding to the device. (3) Choose the device type. (4) Click Reload. (5) Select the data to copy. (6) Set the output storage path. (7) Click Copy.
Page 80 3. After the copying process is completed, the software will generate a Raw Data Quality Report and save it in the corresponding project path. The report will also automatically pop up in the browser. If the data status is abnormal, please re-collect the data promptly. ✫...
Page 81 2. This function supports batch processing of data. Simply select multiple projects simultaneously at this step. 3. After the copying process is completed, clicking the Close button will bring up a dialog box. Clicking the Yes button will generate corresponding multiple liscan projects in the mscan project.
Page 82: Parameter Settings
4. If the data copying function is not used, the software also provides multiple ways to create new liscan projects, including dragging and dropping *.live files, importing *.live files, adding existing data files, and creating based on calibration files. Users can choose the appropriate method according to their data situation. 8.2.3 Parameter Settings Before setting the parameters for the process steps on the right side of the interface, users need to activate the target project.
Page 83 POS Process 1. The software will automatically recognize the mobile station file and IMU file. 2. If a DMI is used, check the Use DMI option and click the DMI Setting button to set the parameters. 3. Add the base station file. 4.
Page 84 Georeference 1. Output Coordinate System: Set the target coordinate system for the POS file imported or generated in the previous step. By default, the WGS 84 / UTM 6-degree zone coordinate system where the data was collected is recommended. Click the button on the right to edit. 2.
Page 85 3. Camera Setting: Use the default parameters. Planar Camera Settings: The software will automatically recognize the image folder and camera file. Check Analyzing Planar to enable the software to automatically parse planar camera data during the Georeference step. Panoramic Camera Settings: Check Analyzing Panoramic to enable the software to parse panoramic images in parallel during the Georeference step.
Page 86 4. Advanced Settings: Used for SLAM process. The default parameters are recommended. ✫ Notes： 1. Usage scenario: Vehicle mounted SLAM point cloud calculation is used to assist in the calculation of point clouds for integrated navigation. In response to the problem of insufficient accuracy in integrated navigation calculation caused by GNSS signal obstruction environments such as urban canyons, dense tree lined roads, and underground parking lots, SLAM and integrated navigation pose fusion algorithm are adopted to optimize the pose calculation accuracy in satellite signal obstruction environments, thereby improving the accuracy of point cloud...
Page 87 Output 1. Filtering: Users can optionally enable Noise Filter and Smooth Filter. It is recommended to use the default parameters. 2. Colorize: Supports user-defined addition of mask files (refer to Appendix 7 "Mask File Creation Tutorial") or selection of a preset mask radius mode. It offers two color assignment modes: Color by Time and Color by Distance, with the Color by Time mode being recommended.
Page 88: One-Click Batch Data Processing
3. Classify By Deep Learning: Select the GV_Road_MLS mode. Supports both CPU and GPU processing types. When using GPU for computation, it is not recommended to set the batch size too large. 8.2.4 One-Click Batch Data Processing The specific steps are as follows: (1) In the directory tree on the left side of the interface, check the *.liscan projects that need to be processed.
Page 89 The software supports the following processing steps for one-click batch data processing: POS Process: Post-processes the original POS file to obtain high-precision POS data. This step will automatically perform a base station check. If users import external POS data, this step can be skipped. Georeference: Processes the original point cloud data to obtain a high-precision point cloud with real geographic coordinates.
Page 90 Adjust. However, this step is slow and should be carefully checked. 5. It is not recommended to check the option of 'Strip Adjust' for data collected in open areas. 6. The filtering option can be used to denoise and thin point clouds, but this step is time-consuming and should be carefully checked.
Page 91: Equipment Maintenance Instructions
9 Equipment Maintenance Instructions 9.1Equipment Cleaning The equipment should be cleaned regularly (3-5 days) using a cleaning kit. Before starting the cleaning operation, ensure that the scanning system is turned off and the power is turned off. Never touch the camera lens or the lidar protective glass directly with your hands. Must wash your hands before cleaning to prevent stains on your hands from getting on the lens cleaning cloth or wiping paper.
Page 92: Equipment Storage
9.3 Equipment Storage The storage temperature range for the device is -10℃-50℃. Please store it according to the temperature range. Before storage, ensure that all power is turned off, and store the device and accessories neatly in the original device box.
Page 93: Appendix
10 Appendix Attachment 1 FAQ ★ Data Collection 1. Key Precautions for Data Collection Solution: 1. For driving safety, it is not recommended to use the device in weather conditions such as rain, snow, or fog. Additionally, point cloud data may contain more noise under such conditions. 2.
Page 94 4. If the issue persists, contact our technical support for remote troubleshooting. 5. After the Tablet is Turned On, the Device's Wi-Fi Signal Cannot Be Searched or the Wi-Fi Signal is Constantly Interrupted During Collection. Solution: 1. Check if the Wi-Fi antenna is installed correctly. 2.
Page 97 9. Precautions for Device Shutdown. Solution: To prevent data corruption, wait 10-15 seconds after successfully issuing the shutdown command. After the APP prompts that the device is disconnected, turn off the battery box power switch to stop the power supply. 10.
Page 98 A fully charged set of 6 batteries can support 6 hours of continuous data collection. For longer operations, purchase additional battery sets for rotation. Alternatively, the LiMobile M2 supports external power solutions. There is a pin-shaped interface on the side of the battery box, which supports input AC voltage of 110 V~220 V.
Page 99 19. Does Swapping SYS Disk and PANO Disk Affect the Device? Solution: The current collection data will not be affected. However, since the disks contain calibration files, swapping them may cause other functions to fail. Do not swap the disks. 20.
Page 100 2. Try using the chkdsk tool to repair the disk. Press WIN+R, type CMD, and enter chkdsk g:/f (replace "g" with the damaged disk letter). This method maximizes data retention. 3. If the above method fails, format the disk (note: this will erase all data). 4.
Page 101 Solution: 1. Camera overexposure may lead to image frame loss, such as when the device exits a tunnel. 2. Slow disk read/write speeds, causing buffer overload. 3. Damage to the data transmission cable during device operation. 4. Please contact our technical support team promptly for troubleshooting.
Page 102: Data Processing
★ Data Processing 1. Common error messages and solutions [Analyze Images] Please generate the trajectory file first! Error reason: No *.traj file was generated in the project. Solution: The Thinning By Distance function when analyzing images and generating *.imglist files require trajectories, so the trajectories need to be processed before performing these operations.
Page 103 Solution: Check the Image Folder path and whether there are *.pgr files under the path. Error Num = -41, The quality of the satellite navigation processing is poor (Fix ratio is 0%), and the solution is terminated. Error reason: Data quality is poor, fix rate is 0. Solution: Check if the base station is too far away.
Page 104 Solution: Please check if the solution disk space is insufficient. [IO] Load project file F:/1021_2024-10-21-05-09-40/2024-10-21-05-09-40.live failed! Error reason: There is an error in the live project file. Solution: Open the live file and check if it is normal. [IO]Recover project data failed, please copy the original project data to current project directory! Error reason: The project folder is not copied completely.
Page 105 3. How to solve the problem of point cloud stratification after georeference? Solution: 1. Check whether the trajectory has jumps. If there are jumps, repair the trajectory jumps, re-process the point cloud and check whether it is stratified. 2. Use the Strip Adjust function for automatic optimization. 3.
Page 106 2. After processing the POS, the user can also click the Panorama Parsing button to analyze the panoramic photo. 5. Is the panoramic camera setting interface normal as shown in the figure? Solution: The settings in the picture are correct. After analyzing Panorama, the software automatically generates the ladybug_caminfo.txt file and displays the path in the Camera Event.
Page 107 7. Can the LiMobile M2 planar camera be used for point cloud colorization? Solution: No, the angle of the planar camera is not suitable for point cloud colorization tasks. 8. How to make a panorama mask file? Solution: Please refer to Attachment 6.
Page 108 11. When running Strip Adjust step, how to select the pop-up window option? Solution: 1. Single: Each liscan project performs internal strip adjusting operations separately. 2. Multi: Not only each liscan project performs internal strip adjusting operations separately, but also strip adjusting operations are performed between liscan projects.
Page 109 15. How to restore the project after the Strip Adujst are spliced? Solution: First ungroup the projects, then right-click the project name and click the Restore Project button. 16. What do the brackets after the liscan project name represent?
Page 110 Solution: It represents the number of selected LiData files, and after the user selects, he can right-click to change the display mode and display settings of the selected point cloud. 17. Why is the SLAM option in the advanced settings checked and the resulting point cloud quality is worse? Error reason: The accuracy of SLAM is greatly affected by environmental features, and in environments with...
Page 111 Universal Transverse Mercator (UTM) projection system. 20. Are the real-time displayed trajectory data recorded? Solution: LiMobile M2 will record the latitude, longitude, and altitude information of the real-time displayed driving trajectory in the text file shown below.
Page 112 21. Purpose of the LiDeviceCheck.ini File. Solution: The LiDeviceCheck.ini file in the LiMobile M2 project data is used to record the start and stop times of the laser, panoramic camera, and planar camera. Based on this file, corresponding KML files are generated and stored in the Result folder, allowing users to efficiently check the trajectory range of valid data.
Page 113 After selecting distance coloring, you need to check the depth map option to alleviate this problem. 24. When reopening the mscan project, the following prompt appears. Is this normal? Solution: This is normal. Due to a change in the drive letter name, the software cannot retrieve the liscan file. Simply click the New Search Path button and re-add the liscan file.
Page 114 Solution: If the deviation is greater than 2, there is a frame drop issue in the raw camera data. Please contact our technical support team promptly to check if the camera is functioning abnormally. 26. As shown in the figure below, what is this file in the project after data copying? Solution: During data copying, a raw data quality check is performed.
Page 115: Attachment 2 Disk Formatting Instructions
Attachment 2 Disk Formatting Instructions ★ Preparation 1. Disk Description: The LiMobile M2 is configured with two 1 TB data storage disks: M2_SYS and M2_PANO. (The surface of the disk card sleeve is engraved with markings for distinction. It is recommended to format them separately to avoid confusion.)
Page 116 5. Click "OK" on the confirmation dialog as shown in the diagram. 6. Right-click the reformatted CFE card drive again, select "Properties", and check the file system. If the format is exFAT, the formatting was successful. Additionally, the disk should be reinstalled in the LiMobile M2 device for data collection validation.
Page 118: Attachment 3 Vehicle And Luggage Rack Crossbar Selection Guide
Attachment 3 Vehicle and Luggage Rack Crossbar Selection Guide ★ Vehicle Selection for Collection 1 Try to choose an SUV model with a relatively short rear to minimize obstruction of sensors by the vehicle’s rear end. 2 It is recommended to choose a vehicle with a factory-installed roof rail (which must support a weight capacity of over 100 kg and not be purely decorative) for easier installation of the luggage...
Page 120: Attachment 4 B60 Battery Safety Usage Guidelines
Battery, please make sure to read this Guide carefully, as it will help you use the Battery more effectively. GreenValley International (“GVI”) will not be responsible for any damages or losses incurred due to operating the Battery without following the required procedures or due to misunderstandings of the instructions provided in this Guide.
Page 121: Storage And Transportation
Before installing or removing the laser radar device from the Battery, please keep the Battery power off. Do not plug/unplug the Battery while the power is turned on, as it may damage the power interface. The Battery should be used at an ambient temperature between -10℃ and 40℃. Excessive temperature (above 50℃) may cause the Battery to catch fire or even explode.
Page 122: Maintenance
Please store the Battery where it is unreachable for children. If children accidentally swallow any parts of the Battery, please seek medical assistance immediately. Do not place the Battery near a heat source, such as in a car under direct sunlight or hot weather, a fire source, or a heating furnace.
Page 123 If the Battery is not used for more than 10 days, please discharge it to about 40%-65% of its capacity for storage, which can extend the Battery's lifespan. A fully charged Battery that is not used for a long time will automatically execute a discharge process.
Page 124: Attachment 5 Calibration Field Data Collection Tutorial
Attachment 5 Calibration Field Data Collection Tutorial ★ Collection Area Select an open intersection area with good satellite reception for data collection. The intersection must have clear road markings, and there should be traffic signs or reference objects such as buildings around three to four stories high nearby for calibration. ★...
Page 125: Attachment 6 Mask File Creation Tutorial
Attachment 6 Mask File Creation Tutorial The software comes with a built-in universal mask file. If the mask file does not fit well with the captured panoramic photos or if you want to achieve better coloring effects, it is recommended that users utilize the Make Mask function button under the Raster module in the mapping project to create a custom mask.
Page 126 To achieve better coloring effects and alleviate the jagged coloring of lane lines, please draw the mask as shown in the figure below to cover the lane line position as much as possible.

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