LeiShen Intelligent System LiDAR C128 Series Technical manual

Operation instruction of 128-line solid-state hybrid LiDAR v1.0
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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