LeiShen Intelligent System C16 Series Technical manual
Operation Instruction of C16 Series
Multi-line Hybrid Solid-State Lidar
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Table of Contents
Radar Parameters
01 Description
02 Operating principles
03 Description of structure
Interface description
01 Electrical interface
02 Mechanical interface
LeiShen multi-line lidar software
01 Introduction
02 Application scope
03 Software installation
04 Introduction of related functions
05 Notes
Communication protocol
01 Main data stream output protocol
02 Device information output protocol
03 User configuration write protocol
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Shenzhen LeiShen Intelligent System Co., Ltd.
LeiShen Intelligent System CO., LTD.
Radar Parameters
Description
1. All the illustrations in this instruction are for reference only
and shall be subject to the latest products.
2. In order to avoid violating the warranty terms, it is not allowed
to disassemble the radar. For the relevant operation, please consult
LeiShen Intelligent’s after-sales technical staff.
Operating principles
Ranging principle of C16 series multi-line hybrid solid-state lidar
Time of flight measurement
Time of flight: As the laser transmitter emits a laser pulse, the
internal timer starts to calculate the time () and stops ()when the
laser receiver receives the partial energy of the laser wave bouncing off any
objects
Distance = Light Speed × (−)/2
Figure 1 Principle of Measurement
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Description of structure
Inside the radar enclosure are 16 pairs of laser-emitting and receiving devices mounted on the bearings. A 360-degree panoramic scan is done by rotating the
internal motor at 5Hz (or 10Hz, 20Hz).
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Figure 2 Exterior Structure Diagram
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Specifications of LeiShen Intelligent 16-line Lidar
Model
C16-xxxA
Ranging mode
Pulse type
Laser band
905nm
Laser class
Class 1 (eye-safe)
Laser channel
16-channel
Signal transmission mode
Wireless power and signal transmission
Maximum range
50 - 70 m
(Reflectivity of 70%)
120 m
(Reflectivity of 70%)
150 m
(Reflectivity of 70%)
Minimum range
0.5 m
0.5 m
0.5 m
Range accuracy
±10cm
±3cm
±3cm
Data acquisition speed
Max 320,000 pts/sec
Max 320,000 pts/sec
Max 320,000 pts/sec
Viewing Angle
Vertical
±15°
±15°
±15°
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Horizontal
360°
360°
360°
Angle
Resolution
Vertical
2°
2°
2°
Horizontal
5Hz: 0.09º
10Hz: 0.18º
20Hz: 0.36º
5Hz: 0.09º
10Hz: 0.18º
20Hz: 0.36º
5Hz: 0.09º
10Hz: 0.18º
20Hz: 0.36º
Sweep
Speed
Vertical
16-channel vertical solid connection
Horizontal
5Hz, 10Hz, 20Hz (optional)
Control module
Upper computer software settings
Communication interface
Ethernet external communication
Supply scope
+9V～+48VDC
Operating temperature
-10℃～+60℃
Storage temperature
-20℃～+85℃
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Light conditions
Operating under either strong sunlight or in darkness
Temperature
Non-condensing
Impact
500 m/sec², for 11 ms
Vibration
5Hz～2000Hz,3G rms
IP Grade
Up to IP67 (customized on demand)
Dimension
Ф120mm*110mm
Weight
About 1,500g
※Structure size
Figure 3 16-line Lidar Structure Size Diagram
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Interface description
Electrical interface
1.1 Device power supply
Device power supply input range: 9VDC - 48VDC, use of input voltage 12VDC recommended.
2.2 Definition of device lead output interface
C16 series multi-line lidar body leads cable (10-core shielded wire with serial number shown as below) from the side at the lower side.
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Figure 1 Radar Outgoing 10-core Cable
10-core cable is defined as follows:
S/N
Cable color and specifications
Definition
Description of definitions
Quantity
1
Red (22AWG)
VCC
Positive power supply
1
2
Red (22AWG)
VCC
Positive power supply
1
3
Light blue (26AWG)
TD_P
Positive Ethernet transmitter differential
1
4
Blue (26AWG)
TD_N
Negative Ethernet transmitter differential
1
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5
Light orange (26AWG)
RD_P
Positive Ethernet receiver differential
1
6
Orange (26AWG)
RD_N
Negative Ethernet receiver differential
1
7
Yellow (26AWG)
GPS_Rec
GPS timing receiving
1
8
White (26AWG)
GPS_PPS
GPS timing and synchronization clock
1
9
Black (22AWG)
GND
Negative power supply (GND)
1
10
Black (22AWG)
GND
Negative power supply (GND)
1
Users can use the C16 series multi-line lidar to insert the 10-core terminal cable into the adapter box by just opening the adapter box cover
and inserting the 10-core cable into the marked position, as indicated below.
Figure 2 Terminal Block Definition
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By default, C16 series multi-line lidar is provided with an adapter box. The line from the lidar to the adapter box is 1 meter, as shown
below.
Figure 3 Connection between Adapter Box and Lidar
The adapter box for the C16 series multi-line lidar has external
interfaces including: 2.1MM DC socket, indicator, 100M Ethernet
RJ45 port, and GPS timing interface.
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Figure 4 Terminal Block Definition
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Mechanical interface
During installation, the device is located by five locating holes. Data line interface is positioned at the specified horizontal angle of 180
degrees. The radar is rotated clockwise.
Figure 5 Mechanical Interface Diagram
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Software instructions
Introduction
This document is intended to guide users and developers how to
use the 16-line lidar of LeiShen Intelligent System Co., Ltd. and the
matching 16-line lidar display software.
Application scope
The multi-line lidar display software of LeiShen Intelligent is applicable
for the 16-line lidar of LeiShen Intelligent and compatible with the related
operations of 16-line single and second echo radar of Velodyne.
Software installation
1. Installation environment
This software is currently only applicable in the Windows x64
system operating platform. The configuration requirements for the
computer installing the software are: CPU: Intel (R) Core (TM) i5 or
above, GPU: NVDIA GeForce GTX750 or above (most desirable), or
it may influence the software display effect.
2. Insert the CD-ROM for software installation included with the
lidar into the CD/DVD drive. Open the CD-ROM and double-click
to install the file and the installation interface will pop up.
3. Click next to enter the installation path selection interface.
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4. After customizing the installation path (do not use a path in
Chinese), click next to enter the installation interface and click the
install button. Wait until the installation is completed.
Introduction and use of related functions
Operation of multi-line lidar display system of LeiShen
Intelligent
Double-click the shortcut icon on the desktop: The initial
interface is shown below:
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1) Function introduction of toolbar buttons
Play pcap, an offline point cloud file
Click the Open File button
to pop up the dialog:
Select the pcap file to be played, and click the Open button. After
file loading, it is shown as below:
Click the button to start playing the offline point cloud file
pcap and visualizing the point cloud data.
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Introduction of real-time radar data reception button
When the radar power supply and network cable are connected,
click the button to enable real-time radar data reception. Click
the OK button in the pop-up radar wizard interface so that the
software automatically detects the reception of data, processes and
displays real-time data. Click the Cancel button so that no radar data
display is received.
Introduction of software interface:
The software interface includes menu area, toolbar area, 3D
window area, data sheet area, play frame information area, pick point
information, and company website link. Each section is indicated as
below:
Table of contents
