LeiShen Intelligent System LiDAR C128 Series Technical manual

Operation instruction of 128-line solid-state hybrid LiDAR v1.0
www.leishen-lidar.com

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Table of Contents
1.1 Description.........................................................................................................................................................................................................................................................5
1.2 Operating principles...........................................................................................................................................................................................................................................5
1.3 Structure and size.............................................................................................................................................................................................................................................10
2. Interface description.............................................................................................................................................................................................................................................. 10
2.1 Electrical interface...........................................................................................................................................................................................................................................10
2.1.1 Device power supply................................................................................................................................................................................................................................ 11
2.1.2 Definition of device wiring output interface............................................................................................................................................................................................ 11
2.2Mechanical interface.........................................................................................................................................................................................................................................14
3. Software instructions under Windows...................................................................................................................................................................................................................15
Introduction............................................................................................................................................................................................................................................................15
Applicable scope....................................................................................................................................................................................................................................................15
Software installation.............................................................................................................................................................................................................................................. 15
Introduction and use of related functions.............................................................................................................................................................................................................. 18
1) Menu bar............................................................................................................................................................................................................................................................19
2) Functional area.................................................................................................................................................................................................................................................. 20

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3) Data sheet area...................................................................................................................................................................................................................................................29
4) 3D view............................................................................................................................................................................................................................................................. 31
Notes...................................................................................................................................................................................................................................................................... 31
4. Communication protocol....................................................................................................................................................................................................................................... 45
1. Main data Stream Output Protocol (MSOP)..........................................................................................................................................................................................................49
1.1 Data structure of the data packet..................................................................................................................................................................................................................... 50
1.2 Header..............................................................................................................................................................................................................................................................51
1.3 Subframe..........................................................................................................................................................................................................................................................52
1.3.1 Angle value definition.............................................................................................................................................................................................................................. 56
5.1.4 Tail............................................................................................................................................................................................................................................................60
5.2 Device Information Output Protocol (DIFOP)................................................................................................................................................................................................ 61
5.3 User Configuration Write Protocol (UCWP).................................................................................................................................................................................................. 64
5.3.1 Ethernet.....................................................................................................................................................................................................................................................66
5.3.3 Time..........................................................................................................................................................................................................................................................67
5.3.4 Serial number............................................................................................................................................................................................................................................71
5.3.5 Firmware version...................................................................................................................................................................................................................................... 73
5.3.6 Radar rotation/stop....................................................................................................................................................................................................................................73
5.3.7 Equipment packet interval........................................................................................................................................................................................................................ 74

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5.3.8 Compatible with Velodyne mode............................................................................................................................................................................................................. 74
5.3.9 Longitude and latitude.............................................................................................................................................................................................................................. 76
5.3.10 Example.................................................................................................................................................................................................................................................. 77
5.4 External time synchronization......................................................................................................................................................................................................................... 79
5.4.1 GPS timing synchronization.....................................................................................................................................................................................................................80
5.4.2 Synchronization of external sync pulse.................................................................................................................................................................................................... 84
5.4.3 Radar internal time count..........................................................................................................................................................................................................................86

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1. Radar parameters
1.1 Description
1. Pictures in this Manual are only for reference, and the latest
product will prevail.
2. To prevent violation of the warranty clauses, private
disassembly of the radar is prohibited and consultation must be made
to the after-sales technical staff of LeiShen Intelligent System before
related operations.
1.2 Operating principles
Ranging principle of 128 series multi-line solid-state hybrid
LiDAR: Time of Flight
Time of flight: the laser emitter emits a laser pulse, and the
internal timer starts to calculate the time ( t
 1
). When the laser wave
hits the object, part of the energy returns, and when the laser receiver
receives the return laser wave, the internal timer is stopped (t
t2
)
Distance = velocity of light × ( t
 2
−
t
 1
) /2
Figure 1 Principle of measurement

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Specification parameters of LeiShen Intelligent System 128-line LiDAR
Model
C128-xxxA
Ranging method
Pulse
Laser waveband
905nm
Laser class
Class 1 (eye-safe)
Laser channel
128-route
Measuring range
(30% reflectivity)
200 m
Ranging accuracy
±2cm

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Data speed
(2 echoes)
830,000 points/second
(1,660,000 points/second)
Viewing
Angle
Vertical
-17° - +14°
Horizontal
150°
Angular
resolution
Vertical
Uniform 0.25°
Horizontal
5Hz: 0.09º
10Hz: 0.18º
20Hz: 0.36º
30Hz: 0.54º
Scanning speed
5Hz, 10Hz, 20Hz, 30Hz (optional)
Communication interface
Ethernet, PPS
Power supply range
+9V - +36VDC
Operating temperature
-10℃- +80℃

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Storage temperature
-40℃～+105℃
Light condition
Operate in strong sunlight or in the dark
Temperature
Non-condensing
Impact
500 m/sec² for 11ms
Vibration
5Hz – 2,000Hz, 3G rms
IP grade
IP67
Dimension
207mm*142mm*125mm
Weight

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1.3 Structure and size
Figure 3 Schematic diagram of the structure and size of 128-line LiDAR
2. Interface description
2.1 Electrical interface

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2.1.1 Device power supply
Power supply input range of the device: 9VDC - 36VDC. Recommended input voltage is 12VDC.
2.1.2 Definition of device wiring output interface
12-core and 8-core shielded cables are led from the bottom side of the C128 sequential multi-line LiDAR. Serial numbers of the cables are as follows.
Figure 4 Schematic diagram of 8-core cables of the radar

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Figure 5 Schematic diagram of 12-core cables of the radar
128-line LiDAR adapter box, external interfaces include: DC socket with 2.1mm aperture, indicator light, kilomega network RJ45 Internet
access, GPS timing interface.

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Figure 6 Schematic diagram of adapter box of 128-line LiDAR

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2.2 Mechanical interface
The device is fitted with 4 mounting holes for positioning. The data line interface is at horizontal 180 degrees as specified. The radar rotates clockwise.
Figure 7 Schematic diagram of mechanical interface

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3. Software instructions under Windows
Introduction
This document aims to guide users to operate 128-line LiDAR of LeiShen Intelligent System CO., LTD. and supporting 128-line LiDAR
display software.
Applicable scope
LeiShen Intelligent System multi-line LiDAR display software is applicable to LeiShen Intelligent System 128-line LiDAR.
Software installation
1. Installation environment
The software is currently only available under the Windows operating system. Configuration of the computer to be installed with the
software should be: CPU: Intel (R) Core (TM) i5 and above, graphics card: NVDIA GeForce GTX750 and above. Otherwise, software display
effect may be influenced. It is necessary to install the WinPcap 4.1.0 third-party library attached to the software installation file after the
installation of the LeiShen multi-line software.

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2. Insert the software installation disk into the CD-ROM drive, open the disk folder, double-click installation file, and the
installation interface window will pop up.
3. Click next to enter the installation path selection interface.

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4. After completing the custom installation path (Chinese path is not recommended), click next to enter the installation interface, click the
install button, and wait for the installation.

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Introduction and use of related functions
Operation of LeiShen Intelligent System multi-line LiDAR display system
Double-click the shortcut icon on the desktop: . The initial Interface includes: data area, 3D view, menu bar, functional area

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1) Menu bar
Data area
3D view
Menu bar
Functional
area

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Lidar page: to select radar type, measurement grid display, view settings, port number settings and more.
Offline page: to play offline data of LSC16, LSC32, and LS31A, and record corresponding offline data.
LSC16 page: to set 16-line radar-related parameters.
LSC32 page: to set 32-line radar-related parameters.
Help page: About introduces the software version, UserGuide contains instructions for use, and Develpo contains developer documentation.
2) Functional area
Lidar page
Real-time radar data reception:
①Set IP of the PC segment: 192.168.1.102
②Set port number: 2368 by default
③When the power of the radar is connected to the network cable, click the button to receive the radar data in real time. Click the OK
button in the pop-up radar wizard interface, the software will automatically detect whether the data is received, and perform real-time data
processing and display. Click the cancel button, it will not receive radar data display. Select LSC32 data to display directly.