OLEI LR-1F Series User manual

Sensing Reality!
LiDAR Sensors
LR-1F Series
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-1F-202012

User Manual LR-1F
目录
1About this documen.....................................................................................................................................................1
2Safety information........................................................................................................................................................1
3Product introduction ....................................................................................................................................................1
4Installation and operation...........................................................................................................................................1
4.1 Mechanical interface...............................................................................................................................................1
4.2 Pin and wire color assignments............................................................................................................................2
4.3 Communication interface.......................................................................................................................................4
5Measurement principle................................................................................................................................................5
6Data packet format.......................................................................................................................................................6
6.1 Overview ...................................................................................................................................................................6
6.2 Definition of Header ...............................................................................................................................................6
6.3 Definition of Data Block........................................................................................................................................7
6.4 Data conversion........................................................................................................................................................7
7Parameter configuration..............................................................................................................................................8
7.1 Parameter configuration of web page .................................................................................................................8
7.2 Configuration of OlamViewer..............................................................................................................................9
8Troubleshooting......................................................................................................................................................... 10
Appendix A Data packet ................................................................................................................................................... 11
Appendix B Mechanical Dimensions......................................................................................................................... 12
Appendix C Example of Electrical Connection....................................................................................................... 13
Appendix D Firmware Upgrade .................................................................................................................................. 13
Appendix E ROS Drive ................................................................................................................................................. 14
Appendix F Suggestions on Mechanical Installation ............................................................................................. 15
Appendix G Cleaning of sensor................................................................................................................................... 17
G.1 Notice........................................................................................................................................................................... 17
G.2 Materials required....................................................................................................................................................... 17
G.3 Cleaning method......................................................................................................................................................... 17

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1About this documen
This document summarizes supplementary information on mounting and electrical
installation as well as measured value output format of the LR-1F. 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-1F operating
instructions
2Safety information
Read the notes on mounting and electrical installation before carrying out these tasks;
Read additionally the LR-1F operating instructions to familiarize yourself with the
device and its functions;
The LR-1F 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
3Product introduction
LR-1F is a 360° continuous scanning LiDAR. It not only provides a full-angle scanning
range, but also obtains a longer measuring distance due to optimized optical design.
LR-1F has been widely applied to industries robot obstacle avoidance, safety monitoring, industrial
automation, and intelligent logistics, etc., and can also be used for spatial surveying and mapping
systems such as mobile surveying and mapping. Users can choose different LiDAR products
according to different requirements on environmental perception and navigation.
With industry-leading manufacturing facilities, professional-level calibration laboratory,
and rigorous verification process, OLEI strives to provide users with a reliable, high-quality,
durable LiDAR.
4Installation and operation
4.1 Mechanical interface
The LiDAR can be installed in two ways: back-mounted and bottom-mounted.
Back-mounted
There are four M5 screw holes (hole depth is 8mm) at the back of the LiDAR.

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Figure 1 Back mounting interface of LR-1F
Bottom-mounted
There are three M5 screw holes (hole depth is 8mm) at the bottom of the LiDAR.
Figure 2 Bottom mounting interface of LR-1F
4.2 Pin and wire color assignments
LR-1F is equipped with 3 interfaces, namely power supply interface, I/O interface and 4
PIN Ethernet interface.
Figure 3 Diagram of electrical interface
Power(12~32DC)
Ethernet(RJ-45)
Power
interface
IO
interface
Ethernet
interface
Male:
Net config of PC
DHCP:off
IP: 192.168.1.10
Mask:255.255.255.0

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Power interface
The power interface adopts 12~32VDC power supply
NO.
Definition
Cable color
1
GND
black
2
GND
gray
3
NC
blue
4
NC
white
5
VCC（12~32VDC）
brown/red
Table 1 Definition of power interface
Figure 4 Diagram of power interface
I/O interface
NO.
Definition
Cable color
1
NC
orange
2
Output 0
orange
3
NC
yellow
4
NC
green
5
NC
purple
6
NC
gray
7
NC
dark blue
8
NC
light blue
9
NC
white
10
GND_IO
black
11
NC
pink
12
VCC_IO
red
Table 2 Definition of I/O interface
Figure 5 Diagram of I/O interface
Ethernet interface
NO.
definition
1
TxData+：Send +
2
TxData-：send-
3
RxData+：Receive+
4
NC
5
NC
Male:
Female:
Male:
Female:

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NO.
definition
6
RxData-：receive-
7
NC
8
NC
Table 3 Definition of Ethernet interface
Figure 6 Diagram of Ethernet interface
4.3 Communication interface
The LR-1F 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 7 Step 1 of computer IP setting
Female:
Male:

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Figure 8 Step 2 of computer IP setting
Figure 9 Step 3 of computer IP setting
5Measurement principle
Figure 10 Diagram of LR-1F LiDAR work principle
Laser diode
Detector

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As is shown in the figure above, LR-1F 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
6Data packet format
LR-1F 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-1F and the computer follows UDP 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 11 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, 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’

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Offset
Length
Description
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 status of 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 is “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 Data Block
Total length of data packet is 1240 bytes, among which header accounts for 40 bytes, data
returned by laser is 1200 bytes.
Table 5 Definition of data block
6.4 Data conversion
6.4.1 Angle calculation
Details on calculating angle of LR-1F 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°
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 equalto 0xFF00, thenthis blockis invalid
and must be ignored.
2
2
Distance reading, unsigned integer.
The measured distance is determined by the distance ratio of the header, that
is, 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)

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6.4.2 Distance calculation
Details on calculating distance of LR-1F 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-1F 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
7Parameter configuration
7.1 Parameter configuration of web page
Web page parameter configuration method of LR-1F 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" on the right side of the UI are the LiDAR parameters displayed
in real time, indicating the temperature and voltage. 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 offset of the LiDAR's 0 degree angle through "Angle offset";
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: Host IP and the LiDAR IP should be in the same network
segment, click the "Set Network" to confirm, and the modification is complete after the
LiDAR is powered on again.