OLEI LR-16F User manual

Sensing Reality!
Lidar Sensors
LR-16F
User Manual
Please read this user manual for best product performance before using the product.
Be sure to keep this manual properly for future reference.
OMEN-16F-202012

User Manual LR-16F
OMEN-16F-202012
目录
1. Document description ..............................................................................................................................................1
2. Safety Instruction ......................................................................................................................................................1
3. Working Principle .....................................................................................................................................................1
4. Installation and operation ........................................................................................................................................2
4.1. Mechanical interface............................................................................................................................................2
4.2. Electrical interface................................................................................................................................................3
4.2.1. Definition of aviation plugin .........................................................................................................................3
4.2.2. Definition of GPS ............................................................................................................................................4
4.3. Communication interface....................................................................................................................................5
5. Serial port and PPS ...................................................................................................................................................6
6. Definition of vertical angle .....................................................................................................................................7
7. Format of data package............................................................................................................................................8
7.1. Communication protocol-data package...........................................................................................................8
7.1.1. Overview............................................................................................................................................................8
7.1.2. Header File ........................................................................................................................................................9
7.1.3. Time stamp ..................................................................................................................................................... 10
7.1.4. Factory mark .................................................................................................................................................. 10
7.2. Communication protocol-information package.......................................................................................... 10
7.2.1. Overview......................................................................................................................................................... 10
7.2.2. Definition of header...................................................................................................................................... 11
7.2.3. Definition of Lidar Info ............................................................................................................................... 11
7.3. Setup the protocol.............................................................................................................................................. 12
8. Numerical calculation ........................................................................................................................................... 13
8.1. Coordinate conversion...................................................................................................................................... 13
8.2. Azimuth ............................................................................................................................................................... 14
8.3. Azimuth interpolation....................................................................................................................................... 14
8.4. Distance ............................................................................................................................................................... 15
8.5. Time stamp.......................................................................................................................................................... 15
8.6. Emission time..................................................................................................................................................... 15
9. Parameter configuration of upper computer software ................................................................................... 16
9.1. Display software ................................................................................................................................................ 16
9.2. Configuration software..................................................................................................................................... 17
9.3. ROS driver package .......................................................................................................................................... 18
10. Troubleshooting ................................................................................................................................................. 18
Appendix A: Data Package ........................................................................................................................................... 19
Appendix B: Mechanical Dimensions........................................................................................................................ 22
Appendix C: Timetable .................................................................................................................................................. 23
Appendix D: GPS code analysis .................................................................................................................................. 24
Appendix E: analysis of 3D lidar coordinate code .................................................................................................. 24
Appendix F: analysis of interpolation code............................................................................................................... 25
Appendix G:ROS............................................................................................................................................................. 26
G.1 Install software........................................................................................................................................................ 26
G.2 Construction.............................................................................................................................................................. 26
G.3 Operation................................................................................................................................................................... 26
G.4 Real-time display..................................................................................................................................................... 27
Appendix H: Optical Avoidance Zone........................................................................................................................ 27

User Manual LR-16F
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1. Document description
To ensure the normal operation of the product and avoid damage to the equipment, please
do not disassemble the sensor.
Read the instructions: Please read through all safety and operating instructions carefully
before using this product;
Properly keep the instructions: Please keep all the safety and operating instructions
properly for future reference;
Pay attention to warnings: please pay attention to all warnings on the product and in the
user manual;
Follow the instructions: Please follow all operating instructions;
Maintenance instructions: please do not attempt to repair the product by yourself except
for following the troubleshooting instructions in the operation manual, and contact the
OLEI laser technicians for help in time.
Any equipment damage caused by violation of the above safety regulations is not covered
by the warranty.
2. Safety Instruction
Pay attention to laser radiation
This product contains invisible Class 1 laser;
Do not dissemble the cover of the device without authorization. Removing the cover will
not cause the laser to turn off;
The laser is not guaranteed to be still Class 1 after the cover is removed.
Pay attention to electrical safety
Disconnect the power supply when connecting or removing electrical cables,
The power supply connected to the equipment must meet the requirements of the
operating instructions;
When using the equipment, connect the reference potential terminal correctly to avoid
personal injury caused by equipotential current
3. Working Principle
With 16 laser emitting components rotating rapidly, LR-16F emits high-frequency laser
beams to continuously scan the external environment; the ranging algorithm provides three-
dimensional point cloud data and object reflectivity, allowing the machine to see the
surrounding environment, and providing guarantee for positioning, navigation, obstacle
avoidance, etc.

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Figure 1 LR-16F lidar operation schematic diagram
The distance information between the object and the lidar is obtained based on the TOF
(Time of Flight) principle, the flight speed and time of the laser beam. The calculation method
is as follows:
  

D—Detection range
T—Flight time
C—Speed of light
4. Installation and operation
4.1. Mechanical interface
LR-16F lidar can be installed at the bottom.
There is one M8 screw hole (hole depth is 5mm) at the bottom of the main body for
installation.
Figure 2 Installation interface of LR-16F

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4.2. Electrical interface
LR-16F component includes one Lidar main body, one junction box, one power adapter
and one network cable.
Operating voltage scope of LR-16F is 12~30VDC. The input end of the power adapter is
connected to 220VAC; the voltage at the power supply output end is converted to 12VDC by
the power adapter, and is connected to the junction box.
Figure 3 Electrical interface of LR-16F
4.2.1.Definition of aviation plugin
A cable containing an aviation plugin from the junction box, directly connects to the main
body of lidar. The connection can only be successful when the red dots on the male and female
plugs of the aviation plugin are aligned.
The aviation plug has a total of 12 PIN, among which PIN9 and PIN10 have two ground
wires in parallel, and PIN11 and PIN12 have two power wires in parallel. Actually, 12 cables
are connected to the junction box. The detailed definition of each PIN is shown in the table
below.
Definition of PIN of aviation plugin is shown in the following table:
Line order
color
function
1
orange
TXD-（send via network interface）
2
orange white
TXD+（send via network interface）
3
green
RXD-（receiving via network interface）
4
green white
RXD+（receiving via network interface）
5
grey
GPS-PPS（GPS sync pulse）
6
blue
GPS-RXD（GPS serial port receiving）
7
pink
reserved
8
yellow
reserved
9
brown
GND（grounding）
10
black
GND（grounding）
11
red
Vin（12~30V DC）
12
purple
Vin（12~30V DC）
Table 1 Definition of power supply and I/O interface

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4.2.2. Definition of GPS
GPS definition is shown in Table 2
No.
definition
1
PPS
2
5V
3
GND
4
RXD
5
GND
6
TXD
Table 2 Definition of GPS interface
Figure 4 Definition of GPS
5V is the output voltage, used for GPS power supplying; PPS uses 3.3V TTL level; RXD,
TXD uses 232 level.
GPS analysis：
$GPRMC,061124,A,3148.5621,N,12342.2488,W,163.4,132.8,191018,120.2,W,A*70
<1> <2> <3> <4> <5> <6><7> <8> <9> <10> <11><12>
No.
Value
Definition
1
061124
<1> UTC time in hhmmss (hour, minute and second) format
2
A
<2> Positioning status, A=effective positioning, V=invalid positioning
3
3148.5621
<3> Latitude ddmm.mmmm (degree and minute) format (the front 0 will
also be transmitted)
4
N
<4> Latitude Hemisphere N (Northern Hemisphere) or S (Southern
Hemisphere)
5
12342.2488
<5> Longitude dddmm.mmmm (degree and minute) format (the front 0
will also be transmitted)
6
W
<6> Longitude hemisphere E (east longitude) or W (west longitude)
7
163.4
<7> Ground rate (000.0~999.9 knots, the front 0 will also be transmitted)
8
132.8
<8> Ground heading (000.0~359.9 degrees, with true north as the
reference datum, the front 0 will also be transmitted)
9
191018
<9> UTC date in ddmmyy (day, month, year) format
10
120.2
<10> Magnetic declination (000.0~180.0 degrees, the front 0 will also
be transmitted)
11
W
<11> Magnetic declination direction, E (east) or W (west)
12
A*70
<12> Mode indicator (only NMEA0183 version 3.00 display,
A=autonomous positioning, D=differential, E=estimate, N=invalid data )
Table 3 Description of GPS analysis
For program analysis, please check “Appendix D: GPS code analysis” for reference.

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4.3. Communication interface
The LR-16F is connected to the computer by a standard Ethernet RJ-45 interface. The
computer IP address should be set up before communication. The lidar and computer IP must
be set in the same subnet without any conflict. The output package are mainly divided into
data package and information package, the port number of the data package is 2368, and the
port number of the information package is 9866.
The IP address settings on the computer is as follows:
Computer IP:192.168.1.10
Computer subnet mask: 255.255.255.0
The default factory settings of Lidar are as follows:
Lidar IP:192.168.1.100
Lidar subnet mask:255.255.255.0
The specific setting process on the computer is as follows:
Figure 5 Step 1 of computer IP setting

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Figure 6 Step 2 of computer IP setting
Figure 7 Step 3 of computer IP setting
5. Serial port and PPS
The serial port and PPS are mainly used when connecting to GNSS equipment. In order
to synchronize the lidar clock with GNSS, standard time signal provided by the GNSS receiver
should be input into LR-16F, including PPS signal and serial GPRMC data.

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The PPS signal should be a TTL level signal, the signal pulse length is 20ms~200ms, and
the GPRMC data must be completed within 500ms of the rising edge of the synchronous pulse.
Figure 8 PPS synchronous sequence
The baud rate of the serial port has the following options: 4800, 9600, 115200bps, 8bit
data bit, no parity bit, stop bit 1.
6. Definition of vertical angle
The vertical angle is defined as following:
Laser ID
Vertical Angle
0
-15°
1
1°
2
-13°
3
3°
4
-11°
5
5°
6
-9°
7
7°
8
-7°
9
9°
10
-5°
11
11°
12
-3°
13
13°
14
-1°
15
15°

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Figure 9 Schematic diagram of vertical angle definition
7. Format of data package
LR-16F enables laser point cloud data transmission. Please refer to the following for the
analysis of lidar point cloud data.
The information transmission between the LR-16F and the computer follows the UDP
standard network protocol. The data package adopts the Little-endian format, with the low
byte in the front and the high byte in the back.
7.1. Communication protocol-data package
7.1.1. Overview
The specific information stored in the data package is the distance value, calibrated
reflectivity, azimuth angle, time stamp and factory mark returned by the laser. The factory
mark contains sensor model and return mode information.
The total length of the data package is 1248 bytes, including 42 bytes for the header file,
1200 bytes for the laser returned data, 4 bytes for the time stamp, and 2 bytes for the factory
mark. The basic structure is shown in the figure below.