OLEI LR-1BS3 User manual

Sensing Reality!
LiDAR Sensors
LR-1BS3/5 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-1BS35-202202

User Manual LR-1BS35
OMEN-1BS35-202202
目录
1. About this documen ...........................................................................................................1
2. Safety information..............................................................................................................1
3. Product introduction...........................................................................................................1
4. Installation and operation ...................................................................................................1
4.1. Mechanical interface.................................................................................................1
4.2. Pin and wire color assignments ................................................................................ 2
4.3. Communication interface..........................................................................................4
5. Measurement principle.......................................................................................................5
6. Data packet format .............................................................................................................5
6.1. Overview...................................................................................................................6
6.2. Definition of Header ................................................................................................. 6
6.3. Definition of data block ............................................................................................ 6
6.4. Data conversion ........................................................................................................7
7. Parameter configuration .....................................................................................................8
7.1. Parameter configuration of web page ....................................................................... 8
7.2. Configuration of OlamViewer ................................................................................10
8. Troubleshooting................................................................................................................10
Appendix A Data packet ........................................................................................................ 11
Appendix B Mechanical Dimensions .................................................................................... 11
Appendix C Example of Electrical Connection.....................................................................12
Appendix D Firmware Upgrade............................................................................................. 12
Appendix E Suggestions on Mechanical Installation ............................................................13
Appendix F Cleaning of sensor..............................................................................................16
F.1 Notice ......................................................................................................................16
F.2 Materials required ...................................................................................................16
F.3 Cleaning method ...................................................................................................... 16

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1. About this documen
This document summarizes supplementary information on mounting and electrical
installation as well as measured value output format of the LR-1BS3/5. It is aimed at sufficiently
qualified personnel for the purposes of installation, commissioning and further data processing.
Notes on commissioning, configuration and maintenance can be found in the LR-1BS3/5
operating instructions.
2. Safety information
Read the notes on mounting and electrical installation before carrying out these tasks;
Read additionally the LR-1BS3/5 operating instructions to familiarize yourself with the
device and its functions;
The LR-1BS3/5 complies with laser class 1;
Only use the device in permissible ambient conditions (e.g. temperature, ground potential).
Any applicable legal regulations or regulations of other authorities will have to be observed
during operation;
Opening the screws of the LiDAR housing will invalidate any warranty claims against
OLEI;
Repairs may only be performed on the LiDAR by trained and authorized OLEI service
personnel.
3. Product introduction
The LR-1BS3/5 is an opto-electronic laser scanner that electro-sensitively scans the
perimeter of its surroundings at a single plane with the aid of laser beams. The LR-1BS3/5
measures its surroundings using two-dimensional polar coordinates based on its measurement
origin.
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.
4. Installation and operation
4.1. Mechanical interface
The LiDAR can be installed in two ways: back-mounted and bottom-mounted.
Back-mounted
There are two M3 screw holes (hole depth is 3mm) at the back of the LiDAR.

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Figure 1: Back mounting interface of LR-1BS3/5
Bottom-mounted
There are two M3 screw holes (hole depth is 3mm) at the bottom of the LiDAR.
Figure 2: Bottom mounting interface of LR-1BS3/5
4.2. Pin and wire color assignments
LR-1BS3/5 is equipped with a "Power/IO" connection and an "Ethernet" connection.

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Figure 3 Diagram of electrical interface
4.2.1 "Power/IO" connection
NO.
definition
Cable color
1
GND
black
2
VCC
red
3
GND_IO
gray
4
VCC_IO
brown
5
OUT0
blue
Table 1 Definition of "Power/IO" connection
Figure 4 Diagram of "Power/IO" connection
4.2.2 Ethernet connection
NO.
definition
1
TxData+：Send +
2
TxData-：Send -
3
RxData+：receive +
4
RxData-：receive -
Table 2 Definition of Ethernet connection
Figure 5 Diagram of Ethernet connection
Ethernet
Power & IOcable
Power & IO
Ethernet

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4.3. Communication interface
The LR-1BS3/5 is connected to the computer by a RJ-45 Ethernet 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 host port 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 operation steps are as follows
Figure 6 Step 1 of computer IP setting
Figure 7 Step 2 of computer IP setting

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Figure 8 Step 3 of computer IP setting
5. Measurement principle
Figure 9 Diagram of LR-1BS3/5 LiDAR work principle
As is shown in the figure above, LR-1BS3/5 measures distance by using the time-of-flight
principle. The LiDAR emits pulsed laser beams using a laser diode. If one of these laser pulses
hits an object or a person, this is reflected at its surface. The reflection is detected in the LiDAR's
receiver by a photodiode. The LiDAR calculates the distance to the object from the transit time
required by the light from emission of the beam to receipt of the reflection. The calculation
method is as follows:
𝐷 = 𝐶𝑇
2
D-Detection distance
T-flight time
C-speed of light
6. Data packet format
LR-1BS3/5 can realize laser point cloud data transmission. Please refer to the following
for the analysis of LiDAR point cloud data.
The information transmission between LR-1BS3/5 and the computer follows UDP
Laser transmitter
Detector

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standard network protocol. The data adopts the Little-endian format,the low byte is in the front,
and the high byte is in the back.
6.1. Overview
Total length of data packet is 1240 bytes, among which header accounts for 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.
6.2. Definition of Header
Total length of data packet is 1240 bytes, among which header accounts for 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 code, expressed in 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 3 Definition of header file
6.3. Definition of data block
Total length of data packet is 1240 bytes, among which header accounts for 40 bytes, data
returned by laser is 1200 bytes.

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Table 4 Definition of data block
6.4. Data conversion
6.4.1 Angle calculation
Details on calculating angle of LR-1BS3/5 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-1BS3/5 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-1BS3/5 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
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, it means that this data
block is invalid and must be ignored .
2
2
Distance reading, unsigned integer.
The measurement distance is determined by the distance ratio of the header,
that is, measured distance="the reading value × the distance ratio of the
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)

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7. Parameter configuration
7.1. Parameter configuration of web page
Web page parameter configuration method of LR-1BS3/5 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 UI indicate the product model and firmware
version;
"Temperature", "Voltage" and "SafeArea" on the right side of the UI are the LiDAR
parameters displayed in real time, indicating the temperature, voltage and current active
Bank. 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 desired speed through "Motor RPM": 600/900/1200/1500
(The corresponding scanning frequency is 10/15/20/25HZ ), and click "SetConfigs" to
confirm;
Set the LED indicator ON and OFF through "Led Marquee", and click "Set Configs" to
confirm;
Set the ON and OFF of the LiDAR safety function through "Safe Area", and click "Set
Configs" to confirm;
Select input mode of "safe bank" trough "Safe bank input" (GPIO mode is not available for
1BS3/5);
Set the mode of the LED indicator through "Led Mode";
Select current Bank through "Safe bank config" when "Safe bank input" is “Software”;
Set receiving computer IP and port through "Host IP & Port".Up to 3 groups 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" to confirm, and the
modification is complete after the LiDAR is powered on again