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:

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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

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Basic operations and precautions
AS-100C User Manual
the shell is opened;
Do not look directly at the AS-100C's laser-emitting
surface for a long time, especially for children, which
may cause blindness.
The laser outlet of AS-100C is an optical light transmission hood, and the laser
warning sign is located on the top cover of the device, AS shown in "Figure 2.1 Laser
Outlet and Laser Warning Sign".
Figure 2.1 Laser Outlet surface and laser warning sign
2.6 Power supply and quick start and stop
The AS-100C is powered through the circular M12 power outlet at the rear of the
device, AS shown in "Figure 2.2 Power Outlet";The power supply voltage should be
DC9V-30V, and the power consumption in the running state is 5W. Please provide power
according to the above standards when using the device.
Figure 2.2 Power socket

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Basic operations and precautions
AS-100C User Manual
Please read "10.1 Data Book" in detail to understand the
complete power supply requirements for AS-100C.The user
should follow the local regulations and take necessary
protection for the power supply cable of AS-100C to avoid
short circuit or overload of power supply;In addition, an
emergency circuit breaker should be installed on the power
supply cable to quickly cut off the power supply in case of
emergency.
Stop method: turn off the power supply, or unplug the power supply cable of the
power socket;
Starting method: connect the power cable of the power socket and turn on the
power switch.
The device configuration information of the AS-100C is kept in a non-volatile storage
medium, and starting and stopping the device will not cause this information to be lost.
2.7 Maintenance
The AS-100C must be repaired by an employee of Akusense
or a Akusense designated agency.If the equipment is
repaired by other personnel, it may cause damage to the
equipment, in which case Akusense will not be responsible
for subsequent repairs.

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AS-100C User Manual
Product Description
3 Product Description
3.1 Packing list
The accessories for AS-100C are shown in "Table 3.1 Packing list".
Table 3.1 Packing list
Items
Quantity
Unit
Instructions
Certificate of approval
1
pcs
Warranty card
1
pcs
1
pcs
As-100c LiDAR
3
pcs
M12 dustproof plug
included
1
pcs
Power cable
Length of 1.5 meters
A-end: M12 terminal (type A), Female,
5 cores
End B: Lead wire, 4 cores
1
pcs
RJ45 cable
Length of 1.5 meters
End A: M12 terminal (type B),
Female, 5 cores
End B: RJ45 plug
1
pcs
I/O cable
Length of 1.5 meters
End A: M12 terminal (type A), Female,
8 cores
End B: Lead wire, 8 cores
Mounting screws, spacers
and simple installation tools
4
pcs
M5*8
Shock absorbing screws,
nuts and spacers
4
pcs
The M5 ╳D15 ╳H20 ╳L12

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AS-100C User Manual
Product Description
3.2 Product Features
Table 3.2 Product Features
The work
environment
Power supply voltage range: DC 9V-30V;
Power consumption: 5W;
Environmental adaptability: anti dirt, anti sunlight, support smoke
penetration, non-rainfall conditions;
IP65 enclosure protection level;
-10℃- +50℃operating temperature range;
measurement
Pulse time-of-flight measurement technology, output range and
diffuse reflectance (RSSI) data;
905nm infrared laser measurement, Class A safety laser (GB
7247.1-2012, eye safety);
The maximum range of 100 meters, reflector range (ф100mm)
range of 100 meters, 10% reflectance range of 20 meters;
scanning
Use mechanical scanning mode;
360° scanning range, scanning Angle resolution: 0.05°/ 0.1°;
Scanning frequency: 10Hz / 20Hz;
Device
interface
Ethernet interface, function: device configuration/composite
measurement data output
I/O interface, function: peripheral control
Typical
applications
Navigation and structural map mapping
Reflector detection based on RSSI and registration based on
reflector coordinates;
Depth image-based registration;
Reflector navigation map rendering and reflector-based navigation;
Depth image mode and mixed mode region structure map
rendering, and free navigation based on region structure map;
availability
reliability
Sun resistance, dirt resistance, with smoke penetration (optional);
Equipment failure self-test ability, including the light hood dirt, close
shielding, excessive temperature, fog shielding;
Output device self-test information through indicators and TCP
packets.

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AS-100C User Manual
Product Description
Figure 3.1 Measurement coordinate system/scan range/range
3.3 Working principle
3.3.1 Distance and RSSI measurement
The basic working principle of AS-100C range measurement is laser ranging based
on time-of-flight measurements.As-100c emits a laser pulse and measures the return time
of the pulse after reflection from the surface of the measured target, which is then
converted into range data, AS shown in "Figure 3.2 Working Principle of time-of-flight
Measurement".Based on the intensity of the echo pulse and the distance to the target, the
diffuse reflectance (RSSI) information of the measured target surface can also be
obtained.
Figure 3.2 Working principle of time-of-flight measurement
As-100c has multiple echo analysis capability.In smoke working environment,

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AS-100C User Manual
Product Description
atmospheric impurities will also reflect ranging laser pulse, forming a reflected echo pulse,
and the measured target together with the reflected echo pulse to the photoelectric
receiving system.By analyzing all the received reflected echo pulses, AS-100C removes
the interference pulses and outputs the real range data of the measured target, AS shown
in "FIG. 3.3 Reflection Echo Filtering".
FIG. 3.3 Reflection echo filtering
3.3.2 2D scanning
The AS - 100 - c the turntable driven a pair of laser pulse transmitting/receiving
cylinder rotate at a constant speed to the mirror, emission and receiving of the tube, the
tube, optical axis parallel to each other with sending and receiving optical axis
perpendicular to the plane of rotation of the turntable and isometric, so the actual distance
optical axis distribution in a scanning plane perpendicular to the axis of rotation, and the
range azimuth and motor rotation Angle is the same, Thus, the 360° two-dimensional
optical scanning is realized, and the distance of each point on the section of the ranging
scanning plane can be obtained from the external environment, as shown in "Figure 3.4
scanning measurement mechanism" and "Figure 3.5 two-dimensional section
scanning".As-100c uses specific TCP/UDP network packets to provide 2D measurement
data with a fixed scanning frequency to the user through the Ethernet port.

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AS-100C User Manual
Product Description
Figure 3.4 Scanning measurement
mechanism
Figure 3.5 2D cross section scanning
3.3.3 Application development
Typical applications of AS-100C include reflector detection based on RSSI, and two
registration methods based on reflector coordinate position and scene depth image.With
these functions, the mapping and assembling of the reflector navigation map and the area
structure map can be completed, and the navigation based on the reflector and the scene
depth image can be realized in the two maps.
For more information on map mapping and navigation
application development, please read "4.4 Map Mapping and
Navigation Application Development".

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AS-100C User Manual
Product Description
3.4 Device Serial Numbers
Each AS-11C has a unique, non-modifiable device serial number, which is shown in
"Figure 3.6 Device Serial Number".
Figure 3.6 Device Serial number
The composition of AS-100C equipment serial number and
the meanings of each field are:
Serial number: LD-AS-100C-F1F2N1N2N3N4X1X2;
LD: device type, LiDAR;
As-100c: equipment type;
F1F2: factory number;
N1N2N3N4X1X2: Serial number.
3.5 Device Ports
The AS-100C has three external ports, including "power port", "Ethernet port" and
"I/O port", all in the form of M12 round waterproof sockets, respectively "power socket",
"Ethernet socket" and "I/O socket", AS shown in "Figure 3.7 Device Socket". The types of
each socket are AS shown in "Table 3.3 Device Socket". The interface signals are defined
as shown in "Table 3.4 Device Interface Signals".

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AS-100C User Manual
Product Description
Figure 3.7 Device socket
Table 3.3 Device socket
The socket
type
Terminal number
A power outlet
M12(model A), Male
4
Ethernet socket
M12(model B), Male
4
The I/O socket
M12(model A), Male
8
Please read "10.1 Data Book" for electrical characteristics of
each socket.
Table 3.4 Definitions of device interface signals
interface
signal
instructions
The power interface
Vs
The power is end
GND S
The power to
Ethernet interface
RX+
Data reception plus end
RX-
Data receive negative end
TX+
Data send plus end
TX-
Data send negative end
The I/O interface
IN1
Universal input 1# positive
end
IN2
Universal input 2# positive
end
IN3
Universal input 3# plus end
GND IN
Common input Common
ground
OUT1
Universal output 1# plus
end

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AS-100C User Manual
Product Description
OUT2
Universal output 2# positive
end
OUT3
Universal output 3# plus
end
GND OUT
Common output Common
ground
Read "6.3 Device Socket Signal Definitions" for each socket
signal definition.
3.6 Device Control and Running Status Display
3.6.1 Device Control Mode
After the AS-100C is powered on, it automatically enters the running state according
to the current configuration of the system without intervention.If you need to control,
configure, or query the running status of AS-100C, you can do so in the following two
ways:
Diagnostic and Configuration software (FILPS) : FILPS interacts with AS-100C
through Ethernet interfaces using TCP packets for comprehensive configuration
and operation control. For details, please read "7 Device Configuration and
Commissioning Tests";
I/O input terminals: By inputting an effective control level to the I/O input
terminals, control functions such as power saving and life extension are realized.
For details, please read "4.5 I/O Interface Instructions and Application
Development".
3.6.2 Indicator light
After the AS-100C starts to work, the basic working status is displayed through the
indicators on the front and rear panels. The meanings of each indicator are shown in
"Table 3.5 Indicator Description".