LSLIDAR LS30MVA User manual

LS30MVA
User Manual
V2.1.1
2023.02
LeiShen Intelligent System Co., LTD
http://www.lslidar.com/

Safety Instruction
Before using the product, please read and follow the instructions of this manual
carefully, and refer to relevant national and international safety regulations.
∆Attention
Please do not disassemble or modify the Lidar privately. If you need special
instructions, please consult the technical support staff of LSLiDAR.
∆Laser Safety Level
The laser safety of this product meets the following standards:
● IEC 60825-1:2014
● 21 CFR 1040.10 and 1040.11 standards, except for the deviations (IEC 60825-
1, third edition) stated in the Laser Notice No. 56 issued on May 8, 2019. Please
do not look directly at the transmitting laser through magnifying devices (such
as microscope, head-mounted magnifying glass, or other forms of magnifying
glasses).
Eye Safety
The product design complies with Class 1 human eye safety standards. However,
to maximize self-protection, please avoid looking directly at running products.
∆Safety Warning
In any case, if the product is suspected to have malfunctioned or been damaged,
please stop using it immediately to avoid injury or further product damage.
Housing
The product contains high-speed rotating parts, please do not operate unless
the housing is fastened. Do not use a product with damaged housing in case of
irreparable losses. To avoid product performance degradation, please do not
touch the photomask with your hands.
Operation
This product is composed of metal and plastic, which contains precise circuit
electronic components and optical devices. Improper operations such as high
temperature, drop, puncture or squeeze may cause irreversible damage to the
product.
Power Supply

Please use the connecting cable and matching connectors provided by LeiShen
Intelligent to supply power. Using cables or adapters that are damaged or do not
meet the power supply requirements, or supply power in a humid environment
may cause abnormal operation, fire, personal injury, product damage, or other
property loss.
Light Interference
Some precise optical equipment may be interfered with by the laser emitted by
this product, please pay attention when using it.
Vibration
Please avoid product damage caused by strong vibration. If the product's
mechanical shock and vibration performance parameters are needed, please
contact LSLiDAR for technical support.
Radio Frequency Interference
The design, manufacture and test of this product comply with relevant
regulations on radiofrequency energy radiation, but the radiation from this
product may still cause other electronic equipment to malfunction.
Deflagration and Other Air Conditions
Do not use the product in any area with potentially explosive air, such as areas
where the air contains high concentrations of flammable chemicals, vapours or
particles (like fine grains, dust or metal powder). Do not expose the product to
the environment of high-concentration industrial chemicals, including near
evaporating liquefied gas (like helium), so as not to impair or damage the product
function.
Maintenance
Please do not disassemble the Lidar without permission. Disassembly of the
product may cause its waterproof performance to fail or personal injury.

Table of Contents
1Product Profile.......................................................................................................... 1
1.1 Overview ........................................................................................................ 1
1.2 Mechanism ..................................................................................................... 1
1.3 Specifications................................................................................................. 1
1.4 Dimensions..................................................................................................... 2
2Electrical Interface................................................................................................... 3
3Display Software under Windows OS ................................................................. 3
3.1 Scope of Application..................................................................................... 3
3.2 Operating Environment ............................................................................... 4
3.3 Software Introduction.................................................................................. 4
4Communication Protocol........................................................................................ 5
4.1 MSOP Protocol.............................................................................................. 5
4.1.1 Data Format ........................................................................................ 6
4.1.2 Header.................................................................................................. 6
4.1.3 Subframe.............................................................................................. 6
4.1.4 Tail ......................................................................................................... 7
4.2 DIFOP Protocol ............................................................................................. 7
4.2.1 APD High Voltage .............................................................................. 9
4.2.2 1.9 V Voltage Status........................................................................... 9
4.2.3 9 V Voltage Status.............................................................................. 9
4.2.4 Mainboard Voltage Status .............................................................. 10
4.2.5 Mainboard Temperature Status.....................................................10
4.2.6 APD Temperature Status ................................................................10
4.2.7 Pitch Angle Information..................................................................11
4.2.8 Near Range........................................................................................ 11
4.2.9 Far Range ...........................................................................................11
4.3 UCWP Protocol........................................................................................... 12
Revision History ............................................................................................................ 14

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1Product Profile
1.1 Overview
All illustrations in this manual are for reference only, please refer to the latest
product.
To avoid breach of warranty, please do not dismantle this range finding system.
For related operations, please consult the technical support.
1.2 Mechanism
The LS30MVA Visual Self-Adjusting Range Finding System is composed of a
fixed-point rangefinder (detection range: 2000 m), an angular displacement
platform and a camera.
The rangefinder is fixed to the angular displacement platform and is equipped
with an internal inclinometer sensor whose accuracy is ±0.008°. When the
rangefinder is displaced in the pitch direction, the inclinometer sensor will
transmit the offset angle value to the host computer in real time through the
network port. Meanwhile, the control board of the fixed-point rangefinder
controls the angular displacement platform to adjust the laser emission of the
rangefinder to the horizontal angle, so that the system can realise self-levelling
function in the pitch direction in real time.
The rangefinder is fitted with an internal camera and the laser optical axis is
almost perfectly coaxial with the camera’s optical axis. When the rangefinder
detects a target ahead, the camera determines whether the target is a ship.
1.3 Specifications
Table 1.1 Specifications of LS30MVA
Model
LS30MVA
Detection Method
ToF
Laser Wavelength
1550 nm
Max. Detection Range
2000 m
Min. Detection Range
10 m
Detection Accuracy
±15 cm
Data Point Generating Rate
500 pts/sec
Pitch Angle Accuracy
0.01°
Rangefinder Communication
Interface
Ethernet
Camera Communication
Ethernet

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Interface
Power Supply
AC/170-264 V
Power Consumption
50 W (max.)
System Operating
Temperature
-10℃+60℃
Shock Test
Able to withstand shocks with an acceleration of 0.73 G
Control Module
Configured in point cloud display software
Light Condition
Able to work in strong sunlight or dark environment
IP Grade
IP66 (Customizable)
Weight
Less than 15 kg
Dimensions
350 * 272.5 * 487 mm
1.4 Dimensions
The whole system is sealed against water with a sealing case. As shown in the
picture below, four corners of the base plate of the Visual Self-Adjusting Range
Finding System can be fitted with lifting rings for easy installation. To minimise
direct sunlight, the optical window piece is tilted at an angle of 10° and has a
brim. The system base and the brim are made of AL6061, and the outer housing
is made of stainless steel 304.
Figure 1.1 3D Dimensions

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Figure 1.2 Mechanical Dimensions (unit: mm)
2Electrical Interface
The Visual Self-Adjusting Range Finding System has four ports on the side with
three cables, one power input cable, one 4-pin shielded cable for data output,
and one network cable for camera output. The left one port is reserved for
rangefinder upgrade, through which the program can be upgraded without
dismantling the machine.
Wiring definition of the 4-pin cable:
S/N
Definition
Description
Amount
1
TX_N
Ethernet TX-
1
2
RX_N
Ethernet RX-
1
3
TX_P
Ethernet TX+
1
4
RX_P
Ethernet RX+
1
Note: Please ensure that the flatness of the system installation platform is within
±1°. The two network ports of the camera and the rangefinder are connected to
the switch to enable the camera image’s display on the system's host computer.
3Display Software under Windows OS
3.1 Application
This display software is suitable for use with the Visual Self-Adjusting Range
Finding System produced by LeiShen Intelligent.

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3.2 Operating Environment
This software can only run under the Windows operating system at present. The
computer configuration requirements for installing the software are: CPU: Intel
(R) Core (TM) i5 or higher.
3.3 Software Introduction
⚫System start-up
The default IP of the ranging system is: 192.168.1.16; the default port number:
2368
When the power and network cables of the ranging system are connected, click
“Load” to load the calibration internal reference file of the camera. Then click
“Start” to receive the system data in real time. Click on the “OK” button in the
pop-up interface of the range finding system usage wizard to select LS30M data
for direct display.
⚫Software interface
The software interface contains a menu area, toolbar area, data table area and
links to the company website.
The data table contains “Distance” and “Intensity”.
Figure 3.1 Software Interface
Note:
1) This software cannot receive data in two processes (open twice at the same
time) on the same computer. The port occupancy of the PC is generally

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exclusive, so the other software that uses the same process or the same port
number cannot work normally after a process is bound to the specified port
number. When the display software detects that the port is occupied, it will
prompt that the communication network port configuration has failed, and
automatically close the software. You need to close the process that
occupied the port, and reopen the display software to use it normally.
2) At the same time, since Qt is adopted in the low-level software development,
please create English paths when naming files and path folders.
3) When switching off the range finding system, always switch off it via the host
computer before switching off the entire system.
4Communication Protocol
The communication between the range finding system and the PC is over the
Ethernet via the UDP protocol. All UDP packets are of a fixed length of 1248
bytes, of which 1206 bytes are the payload and the other 42 bytes are for
encapsulation.
There are three main types of communication protocols between the range
finding system and the computer, as shown in the table below.
Table 4.1 UDP Packet Protocol
Protocol Name
Abbr.
Function
Type
Length
Main data Stream
Output Protocol
MSOP
Outputting measured data
and timestamp
UDP
1248 bytes
Device Information
Output Protocol
DIFOP
Outputting parameter
configuration and status
information
UDP
1248 bytes
User Configuration
Write Protocol
UCWP
Inputting user configured
device parameters
UDP
1248 bytes
Main data Stream Output Protocol (MSOP): packaging the distance, intensity
and other information scanned by the range finding system into a package for
output to the computer;
Device Information Output Protocol (DIFOP): outputting the current status and
configuration information of the system;
User Configuration Write Protocol (UCWP): setting the configuration
parameters of the system.
4.1 MSOP Protocol
MOSP, short for Main data Stream Output Protocol.

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I/O type: device outputs, computer parses.
The MSOP data is stored in Little-Endian form.
Through MOSP, measured data (including laser echo intensity and measured
range value) of the 3D scene is output. The length of MSOP packet is 1248 bytes.
The data structure of a complete lidar MSOP Packet includes frame header,
subframe, and frame tail. Each data packet has a total of 1248 bytes: 42 bytes
for UDP packet encapsulation, 1200 bytes of subframe (a total of 12 data blocks),
4 bytes of Timestamp (reserved), and 2 bytes of Factory information (flag bit:
target status).
4.1.1 Data Format
The measured data of this range finding system contains only the first echo data.
Every MSOP packet has 12 data blocks, each with 32 data points. In every data
point, there are 2 bytes of distance information and 1 byte of reflectivity
intensity. See the following figure for details.
Figure 4.1 Basic Structure of the Data Packet
4.1.2 Header
Header is of 42 bytes. It marks the starting position of the measured data.
4.1.3 Subframe
The subframe is the valid data area of the packet, totalling 1200 bytes. It consists
of 12 data blocks, each 100 bytes in length, representing a complete set of
ranging data. The 100 bytes consists of 2 bytes of flag bits, denoted by 0xffee;
2 horizontal angle bytes reserved; and 32 points of echo data. The distance value