OLEI LR-1BS Series User manual

Sensing Reality!
Lidar Sensors
LR-1BS Series
User Manual
This manual is only applicable to LR-1BS3/3D/5/5D
Please read this user manual for best product performance before using the product.
Be sure to keep this manual properly for future reference.
OMEN-1BS35-202012

User Manual LR-1BS35
OMEN-1BS2-202012
目录
1. Document description .........................................................................................................1
2. Safety Instruction ................................................................................................................1
3. Product introduction............................................................................................................1
4. Installation and operation ....................................................................................................2
4.1. Mechanical interface...............................................................................................................2
4.2. Electrical interface ..................................................................................................................3
4.3. Communication interface ......................................................................................................4
5. Working principle................................................................................................................6
6. Data packet format ..............................................................................................................6
6.1. Overview...................................................................................................................................6
6.2. Definition of Header...............................................................................................................7
6.3. Definition of Block .................................................................................................................7
6.4. Data conversion .......................................................................................................................8
7. Parameter configuration ......................................................................................................8
7.1. Parameter configuration of web page .................................................................................8
7.2. Parameter configuration of upper computer software .................................................. 10
8. Troubleshooting................................................................................................................. 11
Appendix A Data Package......................................................................................................12
Appendix B Mechanical Dimensions ....................................................................................12
Appendix C Example of Electrical Connection.....................................................................13
Appendix D Firmware Upgrade.............................................................................................13
Appendix E Suggestions on Mechanical Installation............................................................... 14
Appendix F Cleaning of sensor..............................................................................................17
F.1 Notice ...................................................................................................................................... 17
F.2 Materials required................................................................................................................. 17
F.3 Cleaning method .................................................................................................................... 17

User Manual LR-1BS35
OMEN-1BS35-202012 1
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 the 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 the warnings: please pay attention to all the warnings on the product and
in the user manual;
Follow the instructions: Please follow all the 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. Product introduction
LR-1BS3/5 is a 2D flat scanning lidar, which scans the surrounding areas on a single plane
with the aid of an infrared invisible laser beam. Based on its measurement origin, LR-1BS3/5
uses two-dimensional polar coordinates to indicate the surrounding environment. With a
scanning angle range of 270°, LR-1BS3/5 detects and outputs the target's angle, distance and
signal strength to facilitate the SLAM system to better identify the target. Thus LR-1BS3/5 has
been widely applied to industries such as robot obstacle avoidance, safety monitoring, industrial
automation, and intelligent logistics.

User Manual LR-1BS35
OMEN-1BS35-202012 2
4. Installation and operation
4.1. Mechanical interface
LR-1BS lidar can be installed in two ways: back-mounted and bottom-mounted.
4.1.1 Back installation
There are two M3 screw holes (hole depth is 3mm) at the back of the main body for
installation.
Figure 1: Back mounting interface of LR-1BS
4.1.2 Bottom installation
There are two M3 screw holes (hole depth is 3mm) at the bottom of the main body for
installation.
Figure 2: Bottom mounting interface of LR-1BS

User Manual LR-1BS35
OMEN-1BS35-202012 3
4.2. Electrical interface
LR-1BS has 2 interfaces, namely power supply I/O interface and 4 PIN Ethernet interface,
as shown in the figure below.
Figure 3 LR-1BS electrical interface diagram
4.2.1 Power, I/O interface
PIN Definitions of power supply and I/O interface is shown in the table below.
NO.
definition
Cable color
1
GND
black
2
VCC
red
3
GND_IO
gray
4
VCC_IO
brown
5
OUT0
blue
Table 2 Definition of power supply and I/O interface
Figure 4 Diagram of interface
4.2.2 Ethernet interface
The PIN code definition of the Ethernet interface is shown in the table below.
NO.
definition
1
TxData+：Send +
2
TxData-：Send -
3
RxData+：receive +
4
RxData-：receive -
Table 3 Definition of Ethernet interface
Ethernet
Power & IOcable
Power & IO
Ethernet

User Manual LR-1BS35
OMEN-1BS35-202012 4
Definition of Ethernet interface
Figure 5 Diagram of interface
4.3. Communication interface
The LR-1BS 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 up in the same subnet without any conflict. The port number of the point cloud data
package is 2368 by default.
The factory default settings are 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 setting processes on the computer are as follows
Figure 6 Step 1 of computer IP setting

User Manual LR-1BS35
OMEN-1BS35-202012 5
Figure 7 Step 2 of computer IP setting
Figure 8 Step 3 of computer IP setting

User Manual LR-1BS35
OMEN-1BS35-202012 6
5. Working principle
Figure 9 Diagram of LR-1BS lidar work principle
As is shown in the figure above, LR-1BS measures distance by using the time-of-flight
principle. Lidar emits laser pulses at uniform and short time intervals. After the laser is reflected
back when it encounters obstacles, the lidar receives reflected light signal. The distance between
the object and the lidar can be calculated according to the time difference between emission and
reception of laser (ie the flight time of the laser) T and the speed of light C. The calculation
method is as follows:
𝐷 = 𝐶𝑇
2
D-Detection distance
T-flight time
C-speed of light
6. Data packet format
LR-1BS can realize laser point cloud data transmission. Please refer to the following for
the analysis of lidar point cloud data.
Information transmission between LR-1BS and computer follows UDP standard network
protocol. The data adapts Little-endian format with low byte at the front and high byte at the
back.
6.1. Overview
Total length of data packet is 1240 bytes, among which header accounts 40 bytes, data
returned by laser is 1200 bytes.
Figure 10 Format of point cloud information packet
The total length of the data frame is 1240 bytes, among which:
Frame header: 40 bytes.
 Data block: 150×8=1200 bytes.
Laser transmitter
Detector

User Manual LR-1BS35
OMEN-1BS35-202012 7
6.2. Definition of Header
Total length of data packet is 1240 bytes, among which header accounts 40 bytes, data
returned by laser is 1200 bytes.
Offset
length
Description
0
4
Identifier, fixed as 0xFEF0010F
4
2
Protocol version, currently 0x0200
6
1
Distance ratio, actual distance value = distance reading ×distance ratio
(mm)
7
3
Brand cod, indicate with capitalized letters and numbers, fill in with ‘\0’ in
the end if isn’t long enough.
10
12
sales model string ending with ’\0’
22
2
internal model code
24
2
hardware version
26
2
Software version
28
4
Timestamp, unit: ms，
32
2
Bit[14:0]: Rotation rate
BIT 15：rotation direction（0：clockwise，1：anticlockwise）
34
1
Safe zone status, same as the hardware INPUT/OUTPUT
BIT[3:0]: Same as OUTPUT[3:0]
BIT[7:4]: Same as INPUT[3:0]
35
1
Error status, the corresponding position 1 indicates an error
BIT0: Motor fault, BIT1: Power fault,
BIT2: Temperature fault
36
4
Reserved (detailed meaning to be determined)
Table 4 Definition of header file
6.3. Definition of Block
Total length of data packet is 1240 bytes, among which header accounts 40 bytes, data
returned by laser is 1200 bytes.
Table 5 Definition of data block
Offset
length
Description
0
2
angle，unsigned integer，valid range：0~35999
Unit :0.01°/LSB，indicating range：0°~359.99°
Note：If this value is greater than or equal to 0xFF00, then this block is
invalid and must be ignored.
2
2
Distance reading, unsigned integer.
The measured distance is determined by the distance ratio of the packet
header, thatis, measured distance="the reading value ×the distance ratio
of the packet header" (unit: mm).
4
2
Signal strength indicates the strength of the received signal, ranging from
0 to 65535.
6
2
Reserved (detailed meaning to be determined)

User Manual LR-1BS35
OMEN-1BS35-202012 8
6.4. Data conversion
6.4.1 Angle calculation
Details on calculating angle of LR-1BS is shown as below:
1)obtain angle value：0xaa & 0x1d
2)interchange of high bits and low bits：0x1d & 0xaa
3)combine into an unsigned hexadecimal number：0x1daa
4)convert to decimal：7594
5)multiply by minimum resolution：0.01°
6)result：75.94°
6.4.2 Distance calculation
Details on calculating distance of LR-1BS is shown as below:
1)obtain distance value：0x11 & 0x12
2)interchange of high bits and low bits：0x12 & 0x11
3)combine into an unsigned hexadecimal number：0x1211
4)convert to decimal：4625
5)multiply by distance ration：suppose distance ration is 1mm
6)result：4625mm
6.4.3 Calculation of signal strength
The signal strength calculation method of LR-1BS is shown in the following example:
1) Obtain the signal strength value: 0x11 & 0x12
2) interchange of high bits and low bits: 0x12 & 0x11
3) Combine into an unsigned hexadecimal number: 0x1211
4) Converted to decimal number: 4625
5) Results: 4625
7. Parameter configuration
7.1. Parameter configuration of web page
Web page parameter configuration method of LR-1BS3/3D/5/5D is as follows:
Open the browser (please use Chrome, Firefox, Edge or other standard browsers), and enter the
lidar IP address;
Model and Version at the top of the interface indicate the product model and firmware version
number;
Temperature, Voltage and SafeArea on the right side of the interface are the lidar parameters
displayed in real time, indicating the temperature, voltage and current active bank of the specific
internal module. When the font color of parameter turns red, please check whether the lidar is
malfunctioning;
Automatically read the current settings of lidar by refreshing the page;
Select the required rotation speed value through Motor RPM: 600/900/1200/1500 (the
corresponding scanning frequency is 10/15/20/25Hz respectively), and click Set Configs to confirm;

User Manual LR-1BS35
OMEN-1BS35-202012 9
Set the Led on and off state of the lidar through the Led Marquee, and click Set Configs to confirm;
Set the on and off state of the lidar safety function through the Safe Area, and click Set Configs to
confirm;
Select current active safe bank input mode trough Safe bank input（GPIO mode is invalid in
1BS3/5）;
Set the mode of the radar's Led light through Led Mode;
Select current bank through Safe bank config when Safe bank input is “Software”;
Set the IP address and port of the PC receiving LiDAR data through Host IP & Port. Up to 3 groups
of Host IP & Port can be set. Click to add a group, click to delete a group.
Enable/disable the DHCP function: the lidar dynamically obtains an IP address from the DHCP
server (ON), and the lidar needs to set up a static IP address (OFF);
Modification of lidar IP: Enter the new IP into the lidar IP column (must be in the same network
segment as the local IP), click the Set Network button to confirm, and the modification is complete
after the LiDAR is powered on again.
Figure 11 Parameter configuration of web page

User Manual LR-1BS35
OMEN-1BS35-202012 10
Figure 12 Advanced configuration page
7.2. Parameter configuration of OlamViewer
OLamViewer’s interface is shown as following. Please refer to OLamViewer software
manual for detail.
Figure 13 Sample of upper computer software interface
The page setting interface and upper computer software interface may change due to
continuous update of products and is subject to actual content.

User Manual LR-1BS35
OMEN-1BS35-202012 11
8. Troubleshooting
Table 6 Troubleshooting
Problem
Method
Lidar fails to scan
Verify whether the power supply is properly connected
Verify whether the power voltage meets 12~32VDC
Please contact OLEI if the above conditions are normal.
LiDAR scan produces
no data
Verify whether the network connection is normal
Verify whether the IP and Port settings on the data receiver are correct.
Try to use third-party data scraping software to verify whether data could
be obtained normally
Verify whether only one lidar software is enabled.
Verify whether firewall of the data receiver is disabled or if there are
other security software or processes blocking data transmission.
Please contact OLEI if the above conditions are normal.
Lidar fails to
achieve safe zone
trigger
Check whether the software configuration is normal and whether the
configuration file is successfully written into the lidar.
Verify whether the wiring at the I/O port is correct.
When the I/O port is not wired, Bank 0 is the effective field group by
default.
The I/O port is only connected to VCC and GND. When other PIN are
not connected, Bank 15 is considered to be the valid field group by
default.
Please contact OLEI if the above conditions are all normal.

User Manual LR-1BS35
OMEN-1BS35-202012 12
Appendix A Data Package
Appendix B Mechanical Dimensions
Mechanical size of LR-1BS

User Manual LR-1BS35
OMEN-1BS35-202012 13
Appendix C Example of Electrical Connection
OUTPUT
Appendix D Firmware Upgrade
This appendix will explain how to use LidarUpgrade2D to upgrade the firmware version of
the LR-1BS series radar.
Figure 14 Icon of software
D.1 Function of software
For 2D radar 1BS series firmware upgrade
D.2 Surroundings for software
- Windows 7,8,10
- .Net framework 4.5.2
D.3 Software operation
-1. Connect the radar correctly. Check whether the radar communication is normal.
-2. Click the File Information box or drag the firmware file in. The relevant information of the
corresponding firmware is prompted after the firmware file is correctly loaded .

User Manual LR-1BS35
OMEN-1BS35-202012 14
Figure 15 Interface of software upgrade
-3. After clicking the ‘Upgrade’ button, power on the radar again and the firmware write
operation will be executed.
-4. Check the ‘Continuous mode’ option, after the upgrade, it will automatically wait for the next
upgrade, which can be used to upgrade radar firmware in batches.
Appendix E Suggestions on Mechanical Installation
When installing lidar, pay attention to the following points:
1. Please remove the transparent protective film on the window when using it on site.
2. Try best to avoid shock and vibration.
3. Keep it away from any direct sunlight (windows, skylights) or any other heat source to
prevent the internal temperature of the device from rising.
4. It is recommended that the mounting base used to fix the lidar be as flat as possible.
5. The positioning column on the mounting base should strictly follow the depth of the
positioning column at the bottom of the lidar, and should not be higher than 4mm. It is
recommended to use aluminum alloy mounting base for better heat dissipation .
6. When installing the lidar, if the lidar has contact mounting surfaces on both top and bottom,
please make sure that the distance between the mounting surfaces is larger than the height of
the lidar to avoid squeezing the lidar.
7. The tilt angle should not exceed 90 degrees when the lidar is installed. If the tilt angle is too
large, it will affect the life of the lidar.
8. When arrange the wiring of the lidar, wiring on the radar should not be too tight; keep the
wiring loose.
In order to avoid any influence to the measurement accuracy due to mutual interference
between lidars, we recommend the following installation, taking LR-1BS as an example. (Α≥6°,
H≥200mm, the position of the line segment in the diagram represents the lidar emission position)

User Manual LR-1BS35
OMEN-1BS35-202012 15
Figure 16 Lidars in opposite position
Figure 17 Horizontal placement of lidar
Figure 18 Placement of two lidars with parallel offset
Figure 19 Placement of two lidars with parallel offset, one is upside down

User Manual LR-1BS35
OMEN-1BS35-202012 16
Figure 20 Two lidars upside down, with parallel offset
Figure 21 Place two Lidars with parallel offsets, one is upside down
The emission position of the 2D lidar from the reference plane is as follows:
Figure 22 Light emission position of LR-1BS, LR-1B, LR-1F

User Manual LR-1BS35
OMEN-1BS35-202012 17
Appendix F Cleaning of sensor
OLE-LiDAR, especially the ring-shaped protective cover, should be kept clean in order to
accurately sense the surrounding environment.
F.1 Notice
Please read Appendix E thoroughly and carefully before cleaning OLE-LiDAR, otherwise
improper operation may damage the equipment.
F.2 Materials required
1. Clean fiber cloth
2. Neutral soap spray
3. Clean water spray
4. Isopropanol solvent
5. Clean gloves
F.3 Cleaning method
If there are only some dust on the surface of the radar, directly use a clean fiber cloth with
a small amount of isopropyl alcohol solution to gently wipe the surface of the radar, and then
wipe it with a dry and clean fiber cloth.
If there are mud or other blocky foreign matter on the surface of radar, first spray clean
water on the surface of the dirty part on the radar to remove the mud and other foreign matter
(Note: please do not wipe off the mud directly with a fiber cloth, as this may scratch the surface,
especially the surface of the protective cover). Then spray with soapy water on the dirty parts,
since the lubricating effect of soapy water could accelerate the separation of foreign materials.
Gently wipe the surface of the radar with a fiber cloth, be careful not to scratch the surface.
Finally, clean the soap residue on the radar surface with clean water (if there are still residues
stains on the surface, use an isopropyl alcohol solution to clean it again), and wipe it with a dry
microfiber cloth.

User Manual LR-1BS35
Official WeChat
Regarding changes in specifications, etc., without notice!
Hangzhou Ole-systems Co., Ltd.
No. 35, Jiuhuan Road, Jianggan District,
Hangzhou City, Zhejiang Province, China
Web: www.ole-systems.com
Email: [email protected]
TEL: [phone]
© Copyright: Hangzhou Ole-systems Co., Ltd.
Release: 2020-12