LIVOX Mid-360 LiDAR Sensor User Guide

LIVOX Mid-360 LiDAR Sensor

Disclaimer

This product is NOT a toy and is not suitable for children under the age of 16. Adults should keep the product out of the reach of children and exercise caution when operating this product in the presence of children. This product incorporates various advanced technologies. However, inappropriate use of the product could result in personal injury or property damage. Read the materials associated with the product before using for the first time. These documents are included in the product package or are available on the LIVOX™ Technology Company Limited (“Livox”) website ( www.livoxtech.com). The information in this document affects your safety and your legal rights and responsibilities. Read this entire document carefully to ensure proper configuration before use. Failure to read and follow the instructions and warnings in this document may result in serious injury to yourself or others, damage to or loss of your Livox product, or damage to other objects in the vicinity. By using this product, you hereby signify that you have read this disclaimer carefully and that you understand and agree to abide by the terms and conditions herein.
EXCEPT AS EXPRESSLY PROVIDED IN LIVOX AFTERSALES SERVICE POLICIES AVAILABLE AT www.livoxtech.com, THE PRODUCT AND ALL MATERIALS, AND CONTENT AVAILABLE THROUGH THE PRODUCT ARE PROVIDED “AS IS” AND ON AN “AS AVAILABLE” BASIS, WITHOUT WARRANTY OR CONDITION OF ANY KIND, EITHER EXPRESS OR IMPLIED. LIVOX DISCLAIMS ALL WARRANTIES OF ANY KIND, EXCEPT AS EXPRESSLY PROVIDED IN LIVOX AFTERSALES SERVICE POLICIES, WHETHER EXPRESS OR IMPLIED, RELATING TO THE PRODUCT, PRODUCT ACCESSORIES, AND ALL MATERIALS, INCLUDING: (A) ANY IMPLIED WARRANTY OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, TITLE, QUIET ENJOYMENT, OR NONINFRINGEMENT; AND (B) ANY WARRANTY ARISING OUT OF COURSE OF DEALING, USAGE, OR TRADE. LIVOX DOES NOT WARRANT, EXCEPT AS EXPRESSLY PROVIDED IN LIVOX WARRANTY, THAT THE PRODUCT, PRODUCT ACCESSORIES, OR ANY PORTION OF THE PRODUCT, OR ANY MATERIALS, WILL BE UNINTERRUPTED, SECURE, OR FREE OF ERRORS, VIRUSES, OR OTHER HARMFUL COMPONENTS, AND DOES NOT WARRANT THAT ANY OF THOSE ISSUES WILL BE CORRECTED. NO ADVICE OR INFORMATION, WHETHER ORAL OR WRITTEN, OBTAINED BY YOU FROM THE PRODUCT, PRODUCT ACCESSORIES, OR ANY MATERIALS WILL CREATE ANY WARRANTY REGARDING LIVOX OR THE PRODUCT THAT IS NOT EXPRESSLY STATED IN THESE TERMS. YOU ASSUME ALL RISKS FOR ANY DAMAGE THAT MAY RESULT FROM YOUR USE OF OR ACCESS TO THE PRODUCT, PRODUCT ACCESSORIES, AND ANY MATERIALS. YOU UNDERSTAND AND AGREE THAT YOU USE THE PRODUCT AT YOUR OWN DISCRETION AND RISK, AND THAT YOU ARE SOLELY RESPONSIBLE FOR ANY PERSONAL INJURY, DEATH, DAMAGE TO YOUR PROPERTY (INCLUDING YOUR COMPUTER SYSTEM OR MOBILE DEVICE OR LIVOX HARDWARE USED IN CONNECTION WITH THE PRODUCT) OR THIRD PARTY PROPERTY, OR THE LOSS OF DATA THAT RESULTS FROM YOUR USE OF OR INABILITY TO USE THE PRODUCT. SOME JURISDICTIONS MAY PROHIBIT A DISCLAIMER OF WARRANTIES AND YOU MAY HAVE OTHER RIGHTS THAT VARY FROM JURISDICTION TO JURISDICTION.

Livox accepts no liability for damage, injury, or any legal responsibility incurred directly or indirectly from the use of this product. The user shall observe safe and lawful practices including, but not limited to, those set forth in these safety guidelines. You shall be solely responsible for all your behavior when using this product.
Warnings

1. Be careful when using Livox Mid™-360 in conditions with low visibility such as foggy or stormy weather. The detection range may be reduced in such conditions.
2. Make sure to mount the Livox Mid-360 on a metal plate with good thermal conductivity such as aluminum alloy. Allow a space of at least 10 mm around the LiDAR sensor to avoid poor air flow affecting heat dissipation.
3. DO NOT touch the optical window of the Livox Mid-360. Dust and stains on the optical window can negatively affect the performance. Use compressed air or a lens cloth to clean the optical window correctly. Refer to the Livox Mid-360 User Manual for more information on how to clean optical windows.
4. In order to avoid electric shocks or radiation exposure, DO NOT disassemble the Livox Mid-360. Contact Livox if an accessory or product part needs to be replaced.
5. The Livox Mid-360 is classified as a Class 1 laser product (IEC/EN 60825-1:2014) and is safe under all normal conditions of use.
6. Liquid damage is not covered under warranty.
7. DO NOT drop the Livox Mid-360.
8. The Livox Mid-360 Quick Start Guide contains important information. Make sure to read before using for the first time and keep for reference.

In the Box

Introduction

The Livox Mid-360 is a high-performance LiDAR sensor that can be used for multiple applications including unmanned driving, robotics, smart cities, and other fields, and supports the realization of mapping, positioning, recognition, obstacle avoidance, and other functions. The Livox Mid-360 features a field of view (FOV) of up to 360° and it can detect objects as close as 0.1 meters away. [1] With an advanced opto-mechanical system design, the Livox Mid-360 has an increased detection range and higher point cloud density and coverage, can accurately capture every detail in the FOV, and has a stronger adaptability. Users can check the real-time point cloud data using Livox Viewer 2 and a software development kit (SDK) is provided to help develop customizable applications using the data acquired from the point cloud.
The Livox Mid-360 has a detection range of up to 100 meters.
Livox Mid-360

1. Optical Window
2. M12 Aviation Connector
3. Locating Hole
4. M3 Mounting Holes

• Refer to the Specifications section for more information on the detection precision.

Installation and Connection

Effective FOV Range
The FOV of Livox Mid-360 is 360° horizontally and 59° vertically. [1] When mounting the sensor, make sure that the FOV is not blocked by any objects.

• Refer to the Livox Mid-360 User Manual for more information.

Note that the effective detecting distance of the Livox Mid-360 varies based on where the object is within the FOV. Refer to the diagram below:

• Pay attention to the effective detection range when in use.
• Reflectivity: 10%
• Unit: m

Mounting the Livox Mid-360

• Refer to the dimensions and the mounting holes in the diagrams below to mount or embed the Livox Mid-360 to or in an appropriate place on the target base. Point O represents the origin and O-YXZ represents the point cloud coordinates of Livox Mid-360.

Connectors

• The Livex Mid-360 uses the high-reliability M12 A-Code aviation connector (male).
• Below is more information on the Livex Mid-360 M12 aviation connector.

8

|

LVTTL_IN

| Input 3.3V LVTTL|

Pulse per second

9| Power+| Power| DC 9 V-27 V
10| LVTTL_IN| Input 3.3V LVTTL| GPS input

11

| LVTTL_OUT| Output

3.3V LVTTL

| Reserved output IO

12

|

LVTTL_OUT

| Output

3.3V LVTTL

|

Reserved output IO

Connection
The Livox Mid-360 supports two IP modes: dynamic IP address mode and static IP address mode. All Livox Mid-360 LiDAR sensors are set to static IP address mode by default with an IP address of 192.168.1.1XX (XX stands for the last two digits of the Livox Mid-360 LiDAR sensor’s serial number). The default subnet masks of the Livox Mid-360 LiDAR sensors are all 255.255.255.0 and their default gateways are 192.168.1.1. Directly connect the Livox Mid-360 to the computer when using for the first time.

1. Before connecting, set the IP address of the computer to static IP address mode. Set the IP address of the computer to 192.168.1.50, and the subnet mask of the computer to 255.255.255.0.
2. Connect the Mid-360 as shown below.

• a. Connect the M12 aviation connector (female) on the Livox Aviation Connector 1-to-3 Splitter Cable with the M12 aviation connector (male) on the Livox Mid-360. The lock nut of the M12 aviation connector (female) should be tightened with a wrench to ensure there is a secure connection with the end face of the M12 aviation connector (male). Make sure there is no gap between them.
• b. Connect the RJ45 network connector on the Livox Aviation Connector 1-to-3 Splitter Cable to the computer.
• c. If PPS or GPS time synchronization is required, connect the function connector on the Livox Aviation Connector 1-to-3 Splitter Cable to the corresponding synchronization source. Refer to the table of the function connector for more information.
• d. Connect the external power connector on the Livox Aviation Connector 1-to-3 Splitter Cable to the external power source. Pay attention to the input voltage range and polarity.

Below is more information on the function connector.

• The Livox Aviation Connector 1-to-3 Splitter Cable must be purchased separately.
• Refer to the Livox Mid-360 User Manual on how to connect the Livox Mid-360 to a router supporting the Dynamic Host Configuration Protocol (DHCP).
• Refer to the Livox Mid-360 User Manual on how to set the IP address of the computer.
• When multiple Livox Mid-360 LiDAR sensors are connected to one computer in static IP address mode, make sure all sensors connected have different static IP addresses.
• Refer to Livox Mid-360 User Manual for more information on how to set the IP address for each LiDAR sensor.

Downloading and Using Livox Viewer 2

Visit http://www.livoxtech.com and download the latest Livox Viewer 2 to check the point cloud data. Livox Viewer 2 supports WINDOWS® 10 (64 bit) and UBUNTUTM 18.04 (64-bit).

• a. Download the file named “Livox Viewer 2.”

• b. Unzip the Livox Viewer 2 file and click to open the .exe file named “Livox Viewer 2”. For Ubuntu users, unzip the Livox Viewer 2 file and click to open the “./livox_viewer_2.sh” file under the root directory.

• c. If a system window with network authorization pops up when opening Livox Viewer 2, allow Livox Viewer 2 to access the network.

• d. The device manager window is on the left side of Livox Viewer 2 and the main interface is on the right side. Click to display or hide the device manager window. In this device manager window, users can check all Livox LiDAR sensors in the local area network (LAN).

• e. Click “LiDAR” on the top of the device manager window.

• f. Select the Livox Mid-360 you want to check and click to connect. Alternatively, select the Livox Mid- 360 you want to check, right-click, and click “Connect.”
  g. After connecting, click or press the space key on the keyboard to view the point cloud data.

• For Windows users, Livox Viewer 2 may fail to detect LiDAR sensors if Windows Firewall is turned on.
  In this situation, go to the Control Panel to turn off Windows Firewall and restart Livox Viewer 2.

• Download and read the Livox Viewer 2 User Manual for more information on how to use Livox Viewer 2.

Specifications

• Model MID-360
• Laser Wavelength 905 nm
• Laser Safety [1] Class 1 (IEC 60825-1:2014) (safe for eyes)
• Detection Range (@ 100 klx) 40 m @ 10% reflectivity 70 m @ 80% reflectivity
• Close Proximity Blind Zone [2] 0.1 m
• FOV Horizontal: 360°, Vertical: -7°~52°
• Distance Random Error (1σ) [3] ≤ 2 cm (@ 10 m) [4] ≤ 3 cm (@ 0.2 m) [5]
• Angular Random Error (1σ) ≤ 0.15°
• Point Rate 200,000 points/s (first return)
• Frame Rate 10 Hz (typical)
• Data Port 100 BASE-TX Ethernet
• Data Synchronization IEEE 1588-2008 (PTP v2), GPS
• Anti-Interference Function Available
• False Alarm Ratio (@100 klx) [6] < 0.01%
• IMU Built-in IMU : ICM40609
• Operating Temperature -20° to 55° C (-4° to 131° F) [7]
• Storage Temperature -40° to 70° C (-40° to 158° F)
• IP Rating IP67
• Power [8] 6.5 W (ambient temperature 25° C (77° F))
• Power Supply Voltage Range 9~27 V DC
• Dimensions 65 (width) × 65 (depth) × 60 (height) mm
• Weight Approx. 265 g

1. The divergence of the embedded laser is 25.2° (horizontal) × 8° (vertical), which was measured at full width at half maximum. The maximum power of the embedded laser may exceed 70 W. In order to avoid being injured by the laser, DO NOT disassemble Livox Mid-360.
2. Target objects within 0.1 to 0.2 m from Livox Mid-360 can be detected, and point cloud data can be recorded. However, since the detection precision cannot be guaranteed, the data should be taken as a reference only.
3. To detect objects having different reflectivities within the detection range, the accuracy of point cloud data of very few positions might decrease slightly.
4. Tested in an environment at a temperature of 25° C (77° F) with a target object that has a reflectivity of 80% and is 10 meters away from Livox Mid-360.
5. Tested in an environment at a temperature of 25° C (77° F) with a target object that has a reflectivity of 80% and is 0.2 meters away from Livox Mid-360. For target objects within 0.1 to 1 m away from Livox Mid-360, if they have a low reflectivity or are thin and tiny, the detection effect cannot be guaranteed. These objects include but are not limited to black foam and the surface of water or objects that have been polished, have a matte finish, thin lines, etc.
6. The false alarm ratio of the noise created by the stray light in a test environment of 100 klx at a temperature of 25° C (77° F).
7. The performance of Livox Mid-360 might slightly decrease in high-temperature or low-temperature environments, or environments with strong vibrations or heavy fog, etc. Besides, operating at a high temperature for an extended period of time may negatively affect performance and may lead to permanent damage to the product. It is recommended to apply extra heat dissipation measures to ensure that the temperature of the shell does not exceed 80° C (176° F). A high temperature will trigger the high-temperature protection mechanism, and Livox Mid-360 will issue a high-temperature warning. Livox Mid-360 will stop operating automatically if the temperatue ris too high.
8. For the stable power and peak power in different environments, refer to the user manual to design the power supply reasonably.

FCC Compliance Statement

• Supplier’s Declaration of Conformity

• Product name: Livox Mid-360

• Model Number: MID-360

• Responsible Party: DJI SERVICE LLC

• Responsible Party Address: 17301 Edwards road, Cerritos, CA 90703

• Website:www.livoxtech.com

• We, DJI SERVICE LLC, being the responsible party, declares that the above mentioned model was tested to demonstrate complying with all applicable FCC rules and regulations. This device complies with part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) This device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation.
  Any changes or modifications not expressly approved by the party responsible for compliance could void the user’s authority to operate the equipment.

• CAN ICES-003 (B)/NMB-003(B)

• EU Compliance Statement : Livox Technology Co., Ltd. hereby declares that this device(Livox Mid-360) is in compliance with the essential requirements and other relevant provisions of the Directive 2014/30/EU.

• A copy of the EU Declaration of Conformity is available online at www.dji.com/euro-compliance
  EU contact address: DJI GmbH, Industriestrasse 12, 97618, Niederlauer,

Germany

• Compliance Statement: Livox Technology Co., Ltd.hereby declares that this device(Livox Mid-360) is in compliance with the essential requirements and other relevant provisions of Electromagnetic Compatibility Regulations 2016.
• A copy of the GB Declaration of Conformity is available online at www.dji.com/eurocompliance

Environmentally friendly disposal

• Old electrical appliances must not be disposed of together with the residual waste, but have to be disposed of separately. The disposal at the communal collecting point via private persons is for free. The owner of old appliances is responsible to bring the appliances to these collecting points or to similar collection points. With this little personal effort, you contribute to recycle valuable raw materials and the treatment of toxic substances.

• Caution
  Use of controls and adjustments or
  performance of procedures other than
  those specified herein may result in
  hazardous radiation exposure

• CLASSE 1 PRODUIT LASER

• IEC/EN 60825-1:2014. Conformément aux normes 21 CFR 1040.10 et 1040.11, à l’exception de la conformité à la norme IEC 60825-1 Ed. 3., tel qu’énoncé dans le document « Laser Notice N°56 » à la date du 8 mai 2019

• CLASS 1 LASER PRODUCT

• IEC/EN 60825-1:2014. Complies with 21 CFR 1040.10 and 1040.11 except for conformance with IEC 60825-1 Ed. 3.,as described in Laser Notice No. 56, dated May 8,2019

• WE ARE HERE FOR YOU

• https://www.livoxtech.com/support

• https://www.livoxtech.com/mid-360/downloads

• Copyright © 2023 Livox Tech. All Rights Reserved.
  

• Livox and Livox Mid are trademarks of Livox Technology Company Limited.
  

• Windows is a registered trademark of Microsoft Corporation in United States and other countries.
  

• Ubuntu is a registered trademark of Canonical Ltd.

Documents / Resources

| LIVOX Mid-360 LiDAR Sensor [pdf] User Guide
Mid-360 LiDAR Sensor, Mid-360, LiDAR Sensor, Sensor
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