AkuSense AS-100C User manual

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AS-100C User Manual
附录
AS-100C User Manual
V 0.9

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Content
AS-100C User manual
Content
Content ..................................................................................................................................1
1 Description ......................................................................................................................... 1
1.1 Tips .......................................................................................................................... 1
1.2 Content Description .................................................................................................1
1.3 Pictorial symbol instructions ....................................................................................2
1.4 Extended Reading ...................................................................................................3
2 Basic operations and precautions ..................................................................................... 5
2.1 Proper usage ........................................................................................................... 5
2.2 Warnings for incorrect usage .................................................................................. 5
2.3 Networking Instructions ...........................................................................................6
2.4 Disclaimer for equipment damage .......................................................................... 6
2.5 Laser radiation instructions ..................................................................................... 6
2.6 Power supply and quick start-stop ..........................................................................7
2.7 Maintenance ............................................................................................................ 8
3 Product description ............................................................................................................ 9
3.1 Packing list ...............................................................................................................9
3.2 Product features .................................................................................................... 10
3.3 Working principle ................................................................................................... 11
3.3.1 Distance and RSSI measurements ............................................................ 11
3.3.2 2D scan ....................................................................................................... 12
3.3.3 Application development .............................................................................13
3.4 Device serial number .............................................................................................14
3.5 Device interface .....................................................................................................14
3.6 Device control and running status display ............................................................ 16
3.6.1 Device control mode ................................................................................... 16
3.6.2 Indicator lights .............................................................................................16
4 Product application .......................................................................................................... 18
4.1 Technology applications ........................................................................................ 18
4.1.1 Actual range ................................................................................................ 18
4.1.2 Relationship between spot diameter and target size .................................20
4.1.3 Rain fog smoke and dust penetration ........................................................ 20
4.1.4 Pseudo-edge points ....................................................................................22
4.1.5 Mirror target .................................................................................................23
4.1.6 Transparent medium ...................................................................................23
4.1.7 Strong light interference ..............................................................................25
4.2 Application system development ...........................................................................26
4.3 Network configuration and device detection .........................................................32
4.3.1 Network Factory Configuration ...................................................................32
4.3.2 Device configuration information broadcast ...............................................32
4.4 Mapping and navigation application development ............................................... 33

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Content
AS-100C User manual
4.4.1 Reflector detection algorithm based on RSSI ............................................ 33
4.4.2 Registration algorithm based on reflector coordinates .............................. 34
4.4.3 Registration algorithm based on depth image ........................................... 34
4.4.4 Map mapping for reflector navigation .........................................................34
4.4.5 Regional structure mapping based on depth image .................................. 35
4.4.6 Mixed mode regional structure map mapping ............................................36
4.4.7 Reflector-based navigation .........................................................................37
4.4.8 Free navigation based on depth image ......................................................38
4.4.9 Meteorological conditions for outdoor applications ....................................40
4.5 I/O interface instructions and application development ....................................... 42
4.5.1 I/O input terminal function definition ........................................................... 42
4.5.2 I/O output terminal function definition .........................................................42
4.5.2 I/O interface Network packets .................................................................... 44
4.6 Device self-check and device ready signal ...........................................................45
4.6.1 Equipment self-test items ........................................................................... 45
4.6.2 Device ready signal .....................................................................................47
4.7 Intrinsically secure configuration ...........................................................................49
4.7.1 I/O output port set timeout to release automatically .................................. 49
4.8 Power saving and life extension control ............................................................... 51
4.9 Device control and function switch ....................................................................... 54
5 Equipment Installation ..................................................................................................... 57
5.1 Installation Preparations ........................................................................................57
5.1.1 Basic Installation requirements ...................................................................57
5.1.2 Installation materials ................................................................................... 57
5.1.3 Installation location selection ......................................................................58
5.1.4 Special reminders ....................................................................................... 58
5.2 Mounting height and pitch angle ...........................................................................60
5.2.1 Relationship between installation height and effective working distance ..60
5.2.2 Altitude and angle adjustment when multiple lidars work simultaneously .61
5.3 Direct installation ................................................................................................... 63
5.4 Use mounting brackets ......................................................................................... 63
5.6 Adjust scan range ..................................................................................................66
6 Electrical Installation ........................................................................................................ 70
6.1 Installation Steps ................................................................................................... 70
6.2 Installation Preparations ........................................................................................70
6.2.1 Power supply ...............................................................................................70
6.2.2 Grounding requirements .............................................................................72
6.2.3 Wire requirements .......................................................................................72
6.2.4 Connect to PC .............................................................................................72
6.3 Device socket signal definition ..............................................................................73
6.3.1 Power outlet signal definition ......................................................................73
6.3.2 Ethernet socket signal definition .................................................................73
6.3.3 I/O socket signal definition ..........................................................................73
6.4 Outlet wiring ...........................................................................................................74

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Content
AS-100C User manual
6.4.1 Power cable lead signal definition .............................................................. 75
6.4.2 I/O cable lead signal definition ....................................................................75
6.5 I/O interface external reference circuit ..................................................................77
7 Device configuration and commissioning test .................................................................78
7.1 Configuration and Test steps .................................................................................78
7.2 Software and equipment preparation ....................................................................78
7.3 Device Configuration .............................................................................................79
7.4 Test steps for commissioning ................................................................................81
8 Equipment Maintenance ..................................................................................................83
8.1 Operation and Maintenance ..................................................................................83
8.2 Replacing Equipment ............................................................................................ 83
9 Troubleshooting ............................................................................................................... 85
10 Technical Specifications ................................................................................................ 86
10.1 Data Book ............................................................................................................86
10.2 Measuring frame/scan range/range ....................................................................89
10.3 Equipment outline drawings ................................................................................90
10.4 Outline drawings of accessories ......................................................................... 91
The appendix 11 ................................................................................................................. 92
11.1 Illustrated Table of Contents ................................................................................92
11.2 Table of Contents .................................................................................................93

1
Document description
AS-100C User Manual
1 Description
1.1 Tips
This manual provides methods and precautions for proper use of Akusense AS-100C
LiDAR products.In order to be able to use this product safely, users should also note:
Comply with the necessary safety production guidelines;
Comply with AS-100C workplace safety regulations and general safety
specifications.
This manual is intended for electrical and electronics professionals.
Before operating the AS-100C, read this manual carefully
and familiarize yourself with the features and functions of the
AS-100C.
This manual does not cover the usage information of other
devices and devices in the application system where
AS-100C is installed and used. Please read the relevant
documents of such devices and devices if you need such
information.
1.2 Content Description
This manual is intended to provide technicians with information on the installation,
electrical connection, equipment configuration, and maintenance of the AS-100C. Read
the sections of this manual in sequence.The contents of this manual (in order) include:
2 Basic operations and Precautions
3 Product Description
4 Product Application
5 Device Installation
6 Electrical installation

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Document description
AS-100C User Manual
7 Device Configuration
8 Equipment Maintenance
9 Troubleshooting
10 Technical Specifications
Table 1.1 Basic product information
The work environment
Indoor/outdoor
The light source
Infrared laser (905nm)
Laser safety level
Class I (GB 7247.1-2012, safe for human eyes)
Scan angle range
360 °
Sweep frequency
10Hz / 20Hz
Scan angle resolution
0.05 ° / 0.1 °
Measuring range
0.2 m - 100 - m
Reflector range (ф100mm)
100m
10% reflectance range
20m
The measurement data
Composite data (distance +RSSI)
Working voltage
A DC 9 v, 30 v
Power consumption
5W
Case protection level
IP65(GB 4208-2008)
The weight of the
0.7 Kg
Size (L ╳W╳H)
97mm(W) X 110mm(D) X 72mm (H)
Operating temperature range
- 10 ℃to + 50 ℃
Storage temperature range
- 30 ℃to + 70 ℃
Ambient illuminance range
0 lux - 80000 lux
Read "10 Technical Specifications" for complete technical
information.
Use "Lidar Diagnostic and Configuration Software (FILPS)"
to diagnose and configure the AS-100C, and read "Lidar
Diagnostic and Configuration Software (FILPS) Manual" for
how to use FILPS.
1.3 Description of Pattern symbols
The following symbols are used in this manual to mark important precautions. Pay
special attention when reading this manual to avoid personal injury and equipment
damage.

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Document description
AS-100C User Manual
Meaning:
An imminent dangerous situation, if not prevented, may
result in serious bodily injury.
Meaning:
A potentially dangerous situation, if left unguarded, could
result in serious personal injury.
Meaning:
A potentially dangerous situation, if not prevented, may result
in general personal injury.
Meaning:
Potentially harmful conditions, if left unguarded, may cause
equipment damage.
Meaning:
Helpful suggestions and tips for efficient and smooth use of
equipment.
Meaning:
Information about important features of the device.
Meaning:
Background on the technical problem.
Meaning:
Related documents that can provide more information.
Meaning:
Device inspection and configuration to be done using FILPS
software.
1.4 Extended Reading
Complete information about the AS-100C can be
downloaded online from:

4
Document description
AS-100C User Manual
http://www.akusense.com
Can download information including:
Akusense Lidar Product Guide: Users can obtain comparison information of
Askusense LiDAR products to help users complete product selection;
As-100c Product Manual: Users can get complete information about AS-100C
technology and applications;
As-100c Instruction Manual: Users can get basic information about AS-100C and
how to quickly try out AS-100C;
Lidar Diagnostic and Configuration Software (FILPS) : Windows installation
package and manual for FILPS software;
Lidar application development SDK: basic C++ code base, Windows dynamic
library, Demo program and SDK user manual required for lidar application
development.

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Basic operations and precautions
AS-100C User Manual
2 Basic operations and precautions
This chapter describes the basic operations and precautions related to personal
safety and equipment safety. Be sure to read them carefully before using the AS-100C.
2.1 Proper usage
The AS-100C is a single-layer panoramic scanning liDAR with diffuse reflectance
(RSSI) measurement capability.The output measurement data is a combination of
distance and RSSI measurements at each measurement Angle. The scan Angle range is
up to 360°, mainly for indoor applications, but also can be used in outdoor environments
under non-rainfall conditions.
The AS-100C is mainly aimed at reflector-based AGV navigation applications and can
also be used in scene measurement applications, such AS structural mapping of outdoor
areas and inside buildings, AS well AS free navigation applications without reflectors.
The AS-100C should only be operated by professionals and used in compliant
environments.
Please read "10.1 Data Book" for the requirements for the
AS-100C operating environment.
2.2 Warnings for incorrect usage
As-100c can only be used for safety warning purposes, and cannot physically
protect personal safety in dangerous environments;
As-100c cannot be used in hazardous environments where explosive hazards
exist;
Use of accessories not supplied by Akusense is at the user's risk.

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Basic operations and precautions
AS-100C User Manual
2.3 Networking Instructions
The AS-100C uses standard TCP/IP technology to network devices.In actual
networking, ensure that the following prerequisites are met:
Users must ensure the integrity and confidentiality of device data transmitted
over the network.
You need to plan and implement necessary network security measures, such as
network isolation, firewalls, and antivirus software.
2.4 Disclaimer for Device Damage
Akusense is not liable for equipment damage caused by:
Failure to read the manual carefully;
Failure to use the equipment properly as required;
Operating by unqualified personnel;
Disassembly of equipment not approved by Akusense;
Equipment modification behavior not approved by Akusense;
Technical modification of equipment;
Use of self-made accessories.
2.5 Laser radiation instructions
The AS-100C is measured using an infrared laser with a wavelength of 905nm, the
laser beam not visible to the naked eye.
As-100c conforms to the requirements of Class A laser safety
grade stipulated in GB 7247.1-2012. It is harmless to human
eyes and skin under normal use conditions, but incorrect use
may bring safety risks. The main precautions are AS follows:
Do not open the shell of AS-100C. The AS-100C
running on power will not stop the laser emission when