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
1Document description .................................................................................................................................................1
2Safety Instruction .........................................................................................................................................................1
3Product introduction ....................................................................................................................................................1
4Installation and operation...........................................................................................................................................2
4.1 Mechanical interface...............................................................................................................................................2
4.2 Electrical interface...................................................................................................................................................2
4.3 Communication interface.......................................................................................................................................4
5Working principle.........................................................................................................................................................6
6Data packet format.......................................................................................................................................................6
6.1 Overview ...................................................................................................................................................................7
6.2 Definition of Header ...............................................................................................................................................7
6.3 Definition of Data Block......................................................................................................................................8
6.4 Data conversion........................................................................................................................................................8
7Parameter configuration..............................................................................................................................................9
7.1 Parameter configuration of web page .................................................................................................................9
7.2 Parameter configuration of upper computer software.................................................................................. 10
8Troubleshooting......................................................................................................................................................... 10
Appendix A Data Package................................................................................................................................................ 11
Appendix B Mechanical Dimensions......................................................................................................................... 12
Appendix C Example of Electrical Connection....................................................................................................... 12
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

User Manual LR-1F
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1Document 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.
2Safety 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.
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 is suitable for applications in various industrial fields, such as robotics, security
and monitoring, industrial automation and 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.
Relying on industry-leading manufacturing facilities, professional calibration laboratory,
and rigorous verification process, OLEI strives to provide users with a reliable, high-quality,
durable lidar sensor.

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4Installation and operation
4.1 Mechanical interface
LR-1F lidar can be installed in two ways: back-mounted and bottom-mounted.
Back installation
There are four M5 screw holes (hole depth is 8mm) at the back of the main body for
installation.
Figure 1: Back mounting interface of LR-1F
Bottom installation
There are three M5 screw holes (hole depth is 8mm) at the bottom of the main body for
installation.
Figure 2: Bottom mounting interface of LR-1F
4.2 Electrical interface
LR-1F has 3 interfaces, namely power supply interface, I/O interface and 4 PIN Ethernet
interface, as shown in the figure below.

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Figure 3 LR-1F electrical interface diagram
Power, I/O interface
The power interface adopts 12~32VDC power supply, and the definition of each PIN is
shown in the table below.
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 supply interface
Figure 4 Diagram of power interface
I/O interface
PIN Definitions of I/O interface is shown in the table below.
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
Figure 2 Definition of I/O 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
Male:
Female:

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Figure 5 Diagram of I/O interface
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
NC
5
NC
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 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 of the computer 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
Male:
Female:
Female:
Male:

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Figure 7 Step 1 of computer IP setting
Figure 8 Step 2 of computer IP setting

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Figure 9 Step 3 of computer IP setting
5Working principle
Figure 10 Diagram of LR-1F lidar work principle
As is shown in the figure above, LR-1F 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
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.
Information transmission between LR-1F and computer follows UDP/IP standard network
protocol. The data adapts Little-endian format with low byte at the front and high byte at the
back.
Laser diode
Detector

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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’
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

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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°
6.4.2 Angle 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
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)