ORBBEC MS200 dToF Lidar Sensor User Manual

ORBBEC MS200 dToF Lidar Sensor

Product Information

The product user manual consists of 15 pages.
The manual provides detailed information and instructions on how to use the product. It covers various aspects of the product’s features, functionality, and usage.

Product Usage Instructions

1. Page 2: This page may provide an introduction to the product and its key features. It is recommended to read through this page to familiarize yourself with the product. 2.
2. Page 3: This page might contain safety instructions and precautions that need to be followed while using the product. Make sure to carefully read and understand these instructions before using the product.
3. Page 4: This page may include step-by-step instructions on how to assemble or set up the product. Follow these instructions to properly assemble the product for use.
4. Page 5: This page might provide information on different modes or settings available in the product. Read through this page to understand how to switch between different modes or adjust settings according to your preferences.
5. Page 6: This page may contain detailed instructions on how to operate the product. It might cover functions such as power on/off, navigation, selection, and other basic operations.
6. Page 7: This page might provide information on maintenance and care for the product. Follow the instructions on this page to ensure proper maintenance and longevity of the product.
7. Page 8: This page may include troubleshooting tips or common issues faced by users. If you encounter any problems while using the product, refer to this page for possible solutions.
8. Page 9: This page might contain information on accessories or additional components that can be used with the product. It could also provide instructions on how to connect or integrate these accessories for enhanced functionality.
9. Page 13: This page may provide warranty information and contact details for customer support. In case of any product defects or issues, refer to this page for warranty coverage and assistance.
10. Page 14: This page might contain regulatory information or compliance certifications related to the product. Read through this page to ensure the product meets all necessary standards and regulations.
11. Page 15: This page could include additional resources or references for further information on the product. Check this page for any additional user guides, online support, or FAQs that may be available. It is recommended to read the entire user manual thoroughly before using the product to ensure safe and proper usage.

The document contains business secrets whose intellectual property belongs to Shenzhen Oradar Technology Co., Lid. and is protected by law. This document and its contents shall not be used or copied in whole or in part without the written consent of the company.

Disclaimer

This document is the copyright of Shenzhen Oradar Technology Co., Ltd., all rights reserved. Without the written permission of the company, any organization or individual shouldn’t take notes or copy part or all of the contents of this document and should not disseminate it in any form. we may not inform you if this document is subject to update. Once this product is used, it is deemed that the user has read this statement carefully, understood, recognized, and accepted the whole content of this statement. The user undertakes to take full responsibility for the use of the product and the possible consequences, and agrees to this clause and any relevant policies, guidelines and guidelines formulated by Shenzhen Oradar Technology Co., Ltd. Shenzhen Oradar Technology Co.,Ltd. will not be responsible for the damage, injury and any legal liability caused by the direct or indirect use of the product. Users should follow all safety guidelines including, but not limited to, those mentioned herein. Shenzhen Oradar Technology Co., Ltd. will not be responsible for any losses caused by the users’ fail to use the products according to the safety guidelines and the User Manual. Unless state clearly, products and related documents, includes the content with the products which produced by Shenzhen Oradar Technology Co.,LTD. are based on “original” and “existing” , without any express or implied guarantee or clause, including but not limited to the suitability of a specific purpose, product uninterrupted validity, non-infringement guarantee, etc.

Safety Guidelines

1. Do not disassemble or modify the product without authorization so as to prevent product damage or radiation exposure.
2. Do not fall or hit the product, otherwise, the internal components of the product may be damaged, resulting in abnormal work.
3. Please carefully check the power supply demand of the product, and the excess power supply may cause permanent damage to the product.
4. Do not scrape the optical cover, and keep the optical cover clean, otherwise, the product performance may be affected.
5. The product is classified as class 1 laser product (IC / EN 60825-1:2014), which is safe under all normal use conditions, but do not look directly at the laser transmitter through the amplification equipment.
6. The product is not waterproof, do not let the product contact with any liquid or use any liquid with cleaning function to clean it.
7. It is strictly prohibited to use or store products in flammable, explosive or corrosive environments to void product damage.

Product Overview

Product Profile
MS200 is a low-cost, single-line high-precision Lidar sensor launched by Shenzhen O -radar Technology Co., LTD. The Lidar adopts precise optical scanning system, com bined with high frequency laser pulse generation technology and exquisite structural design, and can achieve fast and accurate distance measurement in the range of 36 0°/12.0m (@90% reflectivity diffuse reflector surface). This product can be widely us ed in, including home sweeping robot, service robot navigation and obstacle avoidar ce, robot ROS teaching, research, regional security, scanning and 3D reconstruction and many other areas.

Operational Principle
The measurement principle is the direct time of flight method (Direct Time of Flight, dToF). The distance measurement formula is:

where d denotes the distance, c denotes the speed of light, and t denotes the time of flight. When the ranging module works, the laser transmitter sends out a laser pulse, which is projected onto the surface of the object and reflected. The SPAD chip receives the reflected light and accurately calculates the distance from the target object to the Lidar by measuring the flight time of the laser beam in the air. Through the built-in brushless motor, the distance is measured at different angles by rotating the ranging module, thus scanning to obtain the point cloud outline of the surrounding environment.

Product Features

Long range measurement:
Integrated with a variety of telemetry optimization algorithms, 90% reflectivity range of up to 12.0m, effectively improve the efficiency of map building.

High accuracy: Compared with the triangulation principle-based Lidar, MS200 adopts dToF ranging principle to measure distance without accuracy & precision degradation with increasing distance.

Ultra-small size: 37.737.533.0mm (LWH), which can be built into the robot body to optimize the space utilization inside the robot.

Ultra-long service life: The power system adopts custom optimized brushless DC motor, with a service life of over 10000h.

Specifications

Electrical Interface

Interface Definition
The MS200 uses a standard 4-pin 1.5mm pitch female chassis interface, which is equipped with system power and data communication functions.

Serial Port Configuration
The MS200 communicates with the outside in both directions through the UART serial port. The serial port configuration parameters are set as shown in the following table:

Mechanical Interface

Mechanical Dimension

Polar Coordinate System

The angular information output within the MS200 product protocol is defined by the polar coordinate system within the Lidar. As shown in the mechanical structure diagram, the top of the Lidar optical housing is marked in the zero- degree angle direction and the angle rotation direction is clockwise.

Due to production assembly tolerances, there is a tolerance of +2° in the azimuth of the laser’s zero- degree exit. The laser distance sensor must not be installed in such a way as to block its light output window. The overall orientation diagram is shown above. According to the definition of the polar coordinate system, the zero-degree angle is the marking direction of the top of the outer cover, and the Lidar external interface socket is located at 90°.

Working Mode

Oradar MS200 system is set up with 2 working modes: ranging mode and standby mode.

Ranging mode:
The Lidar is successfully initialized and enters into normal ranging operation.

Standby mode: The Lidar is successfully initialized, but no laser beam is emitted, and the system enters a low-power state. In other words, the system stops ranging and the serial port stops data transmission. System Workflow Oradar MS200 outputs the lidar SN code immediately after power up. After stabilizing the rotation, the range is scanned and the point cloud measurement data is output through the serial port.

The SN Code Data Format
Oradar MS200 will output SN code once after power on; when the lidar enters the ranging state from the standby state, it will also output SN code information once, and the first packet of data is the SN code information. The data format is as follows:

Point Cloud Data Format
The MS200 outputs point cloud data, including distance, angle, target reflection intensity, rotational speed information, and time stamp. The point cloud data is the sum of all point clouds detected by the LIDAR detector on the surface of the measured object in the measured environment, and each point cloud includes distance and target reflection intensity information. The MC000 outputs the point cloud information within the detection range, including the position and intensity information of each point in the point cloud. The point cloud data frames are transmitted in hexadecimal small print, and the data types are unsigned integers, and the data format is shown below:

The point cloud information contains the distance and intensity information from the first point of the starting angle measurement to the nth point of the ending angle measurement in sequence. Currently, N is fixed to 12. Each point of information is represented by 3 bytes and the nth point data format is shown as follows.

The intensity indicates the intensity of the laser pulse echo, and the larger the value, the higher the confidence of the range measurement, and the smaller the value, the lower the confidence. The intensity values 0~ 15 are reserved values.

The angle value of each point in the point cloud information can be obtained by linear interpolation of the starting and ending angles. The calculation method is:

The CRC calibration calculation example codes are as follows:

The distance and angle information of the point cloud is related to the polar coordinate system definition of the LIDAR. As shown in Figure 3-3, the direction of the • mark on the top of the radar optical enclosure is zero degree angle and the direction of angular rotation ic clockvice

Quick Start Guide

If you are a first-time user of the MS200 and wish to quickly evaluate the performance of the product, or wish to do secondary development based on the product, you can use the adapter board, Oradar Viewer software, SDK and ROS package provided by Oradar to quickly get started evaluating the performance of the MS200 and early development.

Device Connection
It is recommended to use the Oradar adapter board with a USB Type-C cable to connect the device to the PC.

Connection steps:

• a. Connect the Oradar MS200 to the adapter board using the 4pin power/signal cable;
• b. Use a USB Type-C cable to plug into the Data port of the adapter board and connect to a personal computer;
• c. Open Oradar Viewer on your personal PC to view MS200 real-time point cloud data

Oradar adapter board provides USB to UART function, integrated UART@500000/230400/115200, USB data and USB power interface. Some development platforms or personal computers with weak drive current can use the power interface of the adapter board to access DC 5V auxiliary power supply.

Easy-to-use Oradar Viewer Oradar Viewer is a software that can display, record and analyze point clouds in real time. It is convenient for users to evaluate the performance, and with the development kit to observe the point cloud data scanned in the environment on the PC. Oradar Viewer currently supports Windows 10 (64-bit) operating system. Unzip the file and open the program with the file name MS200Viewer in the extracted file to use it. Connect the device as follows

Software Development Kit Oradar SDK
In addition to the above-mentioned Oradar Viewer for viewing real-time point cloud data, users can also apply the LIDAR acquired point cloud data to various custom scenarios through the software development kit. The Oradar SD supports development in Windows/Linux environments and is available as a ROS/ROS2 package.

Change History

Address 7F, Block A, National Engineering Lab Building, 7th Avenue, High-tech South, Nanshan Dist., Shenzhen
E-mail: business@oradar.com.cn
website: http://www.oradar.com.cn

References

• 深圳奥锐达科技有限公司官网-激光雷达-车载3D视觉传感器

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