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

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of the data point of the N-th data block in the data packet is hexadecimal
numbers: 0x44, 0x11. Transfer the data into 16 bits unsigned integer data, that
is: 0x1144. And then convert it to a decimal number: 4420, with a minimum unit
of 4 cm, resulting in 17680 cm, i.e. 176.8 m.
4.1.4 Tail
The tail of the frame is 6 bytes long, of which 4 bytes are Timestamp (reserved),
and 2 bytes indicate if there is a target within the detection range. The target
status is 0x01 when there is an object within the set range, and 0x0 when there
is no target.
Table 4.2 Data Format of Timestamp
Timestamp Memorizer (Byte 1243~ 1246)
S/N
Byte1
Byte2
Byte3
Byte4
Function
Microsecond
Table 4.3 Data Format of Factory
Factory (Byte 1247~1248)
S/N
Byte1
Byte2
Function
Return Mode
target status
Table 4.4 Data Format of Filed 4DEh
Filed 4DEh
Filed 4DEh
Value
Meaning
Value
Meaning
37h
Strongest Return
20h
LS30
4.2 DIFOP Protocol
DIFOP, short for Device Info Output Protocol.
I/O type: device outputs, computer reads.
DIFOP is an "output-only" protocol designed to send the serial number (S/N),
firmware version, driver compatibility information, network configuration
information, calibration information, motor operating configuration, operating
status, and troubleshooting information to the user, who can read the DIFOP to
interpret specific information about various parameters of the current device.
The data in the device packet is stored in big-endian form. The data of a
complete DIFOP packet is formed by header, subframe and frame tail. The basic
structure of the packet is shown in the table below.
Table 4.5 Data Structure of DIFOP Packet
DIFOP Data Format
S/N
Info.
Offset
Length
(byte)
Description
0
DIFOP Identification
0
8
Fixed header

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Header
1
Lidar (IP, Port Number)
8
6
IP: 4 bytes; Port: 2 bytes
2
Computer (IP, Port
Number, MAC)
14
12
IP: 4 bytes; Port: 2 bytes; MAC: 6
bytes (fixed)
3
Computer (Gateway,
Subnet Mask)
26
8
Gateway: 4 bytes; Subnet Mask: 4
bytes
4
Device Stream Packet
Interval
34
2
Not in use
5
APD High Voltage
Detection
36
2
big-end first
6
1.9V Voltage Detection
38
2
big-end first
7
9V Voltage Detection
40
2
big-end first
8
Input Voltage Detection
42
2
big-end first
9
Mainboard Temperature
44
2
big-end first
10
APD Board Temperature
46
2
big-end first
11
Reserved
48
20
12
Pitch Angle
68
4
Adjust the vertical angle of the lidar;
big-end first
13
Near Range
72
4
The starting position of the
detection range; big-end first
14
Far Range
76
4
The end position of the detection
range; big-end first
15
Reserved
80
2
16
Reserved
82
2
17
Reserved
84
2
18
Reserved
86
2
19
Reserved
88
2
20
Run or Stop the Stepping
Motor
90
2
In conjunction with the adjusting of
the vertical angle of the lidar to stop
the adjustment; big-end first;
00: run; 01: stop
21
High Temperature Pause
92
1
Not in use, FF by default
22
Factory Data Reset
93
1
Reset of the internal lidar
parameters and some of its
functions; 01: Reset (please think
twice before reset)
23
Detection of Laser
Working Status
94
1
01: normal, 00: abnormal or not
working
24
Reserved
95
5
25
Reserved
100
60
26
Reserved
160
8
27
Reserved
168
20
28
Reserved
188
2
29
Reserved
190
2
30
Reserved
192
2
31
Reserved
194
2
32
Reserved
196
2
33
Reserved
198
2
34
Reserved
200
2
35
Reserved
202
2
36
Reserved
204
2
37
Reserved
206
2
38
Reserved
208
7
39
Reserved
215
2

LS30MVA
9
40
Reserved
217
2
41
Reserved
219
2
42
Reserved
221
2
43
Reserved
223
41
44
Reserved
264
32
45
Reserved
296
32
46
Reserved
328
384
47
Reserved
712
478
990
48
Hardware Version
1190
2
49
FPGA (484) Version
(yymmdd)
1192
6
50
FPGA (324) Version
(yymmdd)
1198
6
51
Tail
1204
2
1206
1206
Note: Header (DIFOP identification header) in the table above is
0xA5,0xFF,0x00,0x5A,0x11,0x11,0x55,0x55, among which the first 4 bytes can
be used as checking sequence of the packet. Tail is 0x0F,0xF0
4.2.1 APD High Voltage
APD high voltage ranges from 0 V to 60 V, about 42 V at 25℃.
Table 4.6 APD High Voltage
APD High Voltage (2 bytes)
S/N
Byte1
Byte2
The parsing and calculation are as follows:
If the voltage value is 0x5D4 which is equal to decimal 1492, the voltage value
(V) = |(3.3-1492/4096*3.3)/47*1047-3.3| = 43.43 V
4.2.2 1.9 V Voltage Status
The 1.9 V voltage fluctuates around 3% to 5% at 25°C room temperature.
Table 4.7 1.9 V Voltage
1.9 V Voltage (2 bytes)
S/N
Byte1
Byte2
The parsing and calculation are as follows:
If the voltage value is 0x936 which is equal to decimal 2358, the voltage value
(V) = 2358/4096*3.3 = 1.9 V
4.2.3 9 V Voltage Status
The 9 V voltage fluctuates around 3% to 5% at 25°C room temperature.

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Table 4.8 9 V Voltage Status
9 V Voltage (2 bytes)
S/N
Byte1
Byte2
The parsing and calculation are as follows:
If the voltage value is 0x2BA2 which is equal to decimal 11170, the voltage value
(V) = 11170/4096*3.3 = 9 V
4.2.4 Mainboard Voltage Status
The normal range of the mainboard voltage is 6 V to 9 V (converted by the
voltage chip), rather than the externally inputted 12 V. There are 2 bytes in total.
The data is retained to 1 decimal place and is in V. The normal output of this
voltage state indicates that the power supply of the lidar is working properly. As
the camera and the lidar are powered by the same power module, it can be
basically inferred that the camera is powered normally and it can also be roughly
inferred that the power supply of the angular displacement platform driver is
normal.
Table 4.9 Mainboard Voltage
Mainboard Voltage (2 bytes)
S/N
Byte1
Byte2
The parsing and calculation are as follows:
If the voltage value is 0x2BA2 which is equal to decimal 11170, the voltage value
(V) = 11170/4096*3.3 = 9 V
4.2.5 Mainboard Temperature Status
This temperature is output from the temperature sensor on the lidar mainboard
and cannot fully represent the temperature of the whole machine. It needs to be
converted to the real temperature according to the formula.
Table 4.10 Mainboard Temperature
Mainboard Temperature (2 bytes)
S/N
Byte1
Byte2
If the temperature is 0x4B0 which is equal to 1200 in decimal, the temperature
in degrees Celsius = 1200/4096*3.3*100-50= 46.6796875 °C
4.2.6 APD Temperature Status
This temperature is output from the temperature sensor on the lidar APD board
and cannot fully represent the temperature of the whole machine. It needs to be
converted to the real temperature according to the formula.
Table 4.11 APD Temperature

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APD Temperature (2 bytes)
S/N
Byte1
Byte2
If the temperature is 0x4B0 which is equal to 1200 in decimal, the temperature
in degrees Celsius = 1200/4096*3.3*100-50= 46.6796875 °C
4.2.7 Pitch Angle Information
Calibration of the angular information of the range finding system in the pitch
direction. Data is retained to 3 decimal places and is in degrees.
Table 4.12 Pitch Angle
Pitch Angle (4 bytes)
S/N
Byte1
Byte2
Byte3
Byte4
The parsing and calculation are as follows:
The 4 characters SA AA BB CC represent the pitch direction, the 4 bytes 00 10
10 00 are the returned angle value in the X-axis, in compressed BCD code. The
first byte has a high 0 sign bit (0 positive, 1 negative), 010 is a 3-digit integer and
1000 is a 4-digit decimal value. The angle is parsed as +10.100°.
4.2.8 Near Range
The blind spot of lidar detection range can be set. If set to 10 m, i.e. targets in
the range 0 to 10 m are not displayed.
Table 4.13 Near Range
Near Range (2 bytes)
S/N
Byte1
Byte2
The parsing and calculation are as follows:
If the near range value is 0x64 which is equal to decimal 100, near range =
100*4/100 = 4 m.
4.2.9 Far Range
The blind spot of lidar detection range can be set. If set to 1000 m, i.e. targets
exceed the range of 1000 m are not displayed.
Table 4.14 Far Range
Far Range (2 bytes)
S/N
Byte1
Byte2
The parsing and calculation are as follows:
If the far range value is 0x61A8 which is equal to decimal 25000, far range =

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25000*4/100 = 1000 m
4.3 UCWP Protocol
The UCWP is used to configure the lidar and change the motor status of the
angular displacement platform, custom detection range, etc. The configuration
packet is 1206 bytes in length which contains the frame header, data and frame
tail.
The default factory setting is to enable the motor of the angular displacement
platform and to adjust the level automatically on power-up.
The default range is from 10 m to 2000 m, with 10 m for near range and 2000
m for far range. The format of the configuration package is shown in the table
below.
Data Format of UCWP Packet
Description
S/N
Info.
Offset
Length
(byte)
Configuration packet parameter
0
DIFOP Identification
Header
0
8
aa 00 ff 11 22 22 bb bb
1
Lidar (IP, Port
Number)
8
6
IP: c0 a8 01 10; PORT: 09 40;
2
Computer (IP, Port
Number, MAC)
14
12
IP: c0 a8 01 7D; PORT: 09 40;
Lidar MAC: 08 03 04 05 06 00;
3
Computer (Gateway,
Subnet Mask)
26
8
GATEWAY: c0 a8 01 01;
SUBNET MASK: FF FF FF 00;
4
Reserved
34
2
5
Reserved
36
2
6
Reserved
38
2
7
Reserved
40
2
8
Reserved
42
2
9
Reserved
44
2
10
Reserved
46
2
11
Reserved
48
20
12
Pitch Angle
68
4
00 00 00 00; 00 00 00 00; the
highest byte is the sign bit.
10 for negative angles, 00 for
positive angles;
13
Near Range
72
4
00 00 00 01; unit: 0.04 m
14
Far Range
76
4
00 00 C3 50; 50000*0.04 m =
2000 m
15
Reserved
80
2
16
Reserved
82
2
17
Reserved
84
2
18
Reserved
86
2
19
Reserved
88
2
20
Run or Stop the
Stepping Motor
90
2
run step motor: 00 01;stop step
motor: 00 00;
21
Reserved
92
1
22
Factory Data Reset
93
1
01: reset the lidar
23
Reserved
94
1

LS30MVA
13
24
Reserved
95
5
25
Reserved
100
60
26
Reserved
160
8
27
Reserved
168
20
28
Reserved
188
2
29
Reserved
190
2
30
Reserved
192
2
31
Reserved
194
2
32
Reserved
196
2
00 00
33
Reserved
198
2
34
Reserved
200
2
35
Reserved
202
2
36
Reserved
204
2
37
Reserved
206
2
38
Reserved
208
7
39
Reserved
215
2
40
Reserved
217
2
41
Reserved
219
2
42
Reserved
221
2
43
Reserved
223
41
44
Reserved
264
32
45
Reserved
296
32
46
Reserved
328
384
47
Reserved
712
478
48
Reserved
1190
2
49
Reserved
1192
6
50
Reserved
1198
6
Reserved: write 0, same as above
51
Tail
1204
2
0F F0
1206
1206

Revision History
Rev.
Release Date
Revised Content
Issued/Revised By
V2.1.0
2022-10-09
Initial version
LS1286
V2.1.1
2023-02-03
Data Point Generating
Rate updated
LS1286

*This product information is subject to change without notice.
Copyright ©2023 LeiShen Intelligent System Co., Ltd. All rights reserved.
Make Safer Driving, Smarter Machine, and Better Life!
Headquarters
LeiShen Intelligent System Co., Ltd.
Floor 4-5, Yunhua Times Building,
Shajing Street, Bao’an District
Shenzhen City, Guangdong Province
China
TEL: [phone]
Factory
Building R, Dongbao Industrial Zone
Shasi Community, Shajing Street, Bao’an District
Shenzhen City, Guangdong Province
China
TEL: [phone]
French Office
60 Rue Saint Antoine
75004 Paris,
France
TEL: [phone]
Eric Chen
Sales Email: sal[email protected]
After-Sales Mailbox: [email protected]
Company Website: www.lslidar.com