ORADAR MS500 3D Vision and 3D World User Manual

: June 17, 2024
: ORADAR

**ORADAR MS500 3D Vision and 3D World User Manual

**

Disclaimers

This document is copyrighted by Shenzhen Radar Technology Co. Ltd. Without the written permission of the Company, no unit or individual shall copy or reproduce part or all the contents of this document and shall not transmit it in any form. This document is subject to update without prior notice.

By using this product, the user is deemed to have carefully read this statement and to understand, acknowledge and accept the entire contents of this statement. The user undertakes to take full responsibility for the use of this product and the possible consequences and agrees to these terms and conditions and any related policies, guidelines and instructions established by Shenzhen Oradar Technology Co. Ltd.

Shenzhen Oradar Technology Co. Ltd. is not responsible for damage, injury or any legal liability caused by the direct or indirect use of this product. Users should follow all safety guidelines including but not limited to those mentioned herein. Shenzhen Oradar Technology Co. Ltd. shall not be liable for all damages caused by the user’s failure to use the product in accordance with the safety guidelines and the requirements of the User Manual.

Except as expressly stated, the products and all materials provided by Shenzhen Oradar

Technology Co. Ltd. and the content provided through the products are provided on an “as is” and “as available” basis without any express or implied warranties or conditions, including, but not limited to, the following fitness for a particular purpose, uninterrupted product availability, non-infringement warranty, etc.

Safety Guidelines

Do not repair, modify, or manipulate this product without permission to prevent damage
to the product or radiation exposure.
Do not drop or hit this product, otherwise, the internal components of the product may
be damaged, resulting in abnormal operation.
Please check the power supply requirements of the product carefully, over-powering
may result in permanent damage to the product.
Do not scratch the optical housing and keep it clean. Otherwise, the product measuring performance may be affected.
The product is certified according to laser protection Class 1 (IEC/EN 60825-1: 2014).
Do not stare into laser beam. Do not point lasers at people!
It is strictly prohibited to use or store the product in flammable, explosive or corrosive environment to prevent damage to the product.

Product Introduction

Product Brief

MS500 is a 2D light detection and ranging (LiDAR) sensor launched by Shenzhen Radar Technology Co. Ltd. The LiDAR uses innovative direct Time of Flight (dToF) ranging technology. The LiDAR comprises a precise rotating-mirror optical scanning system and a high-frequency laser pulse transmitter. Sophisticated optical, mechanical and structural design permits robust and accurate scanning within 270°/=10m (@10% reflectivity). The LiDAR can be widely used in many fields, including robot positioning and navigation, area security, logistics, environmental scanning, and 3D reconstruction.

Working Principle

The measurement principle of MS500 is dToF. The distance is calculated as:

where d is the distance to be measured, ¢ the speed of light, and t the time of flight captured by LiDAR sensor.

The LiDAR comprises a rotating ranging module on which a laser transmitter and receiver is located. When the ranging module works, the laser transmitter emits a laser pulse, the receiver captures this pulse reflected by an object. By measuring the flight time of the laser pulse in the air, the distance from the target object to the LiDAR can therefore be calculated.

Through the built-in brushless motor, the distance is measured at different angles by rotating the ranging module. This working principle permits continuous scanning of the surrounding environment with a field of view of 270°.

Product Features

Long ranging capacity: Measurement range can be up to 10m@ 10%, 30m@90%, providing the capacity for large-scale environment usage.

High resolution: Up to 30KHz measurement frequency with high angular resolution allows tiny obstacle detection and precise edge detection.

Anti-ambient light interference: Maintains operational stability under 50,000 x ambient light interference.

Environmental adaptability: Guaranteed stable operation in a temperature range of -10°C minimum and 55°C maximum.

High protection level: IP65 protection level, high shock resistance, suitable for logistics/security applications.

Low power consumption: Total power consumption typical value is less than 2W, permitting
small heat generation and low temperature rise.

Specifications

General specifications

Product	MS500	Remarks
Measurement principle	dToF
Measurement range	1.30m @90% reflectivity 10m @10% reflectivity
Accuracy	typ. ±20mm
max +30mm	At least 100 times data

Environmental specifications

Degree of protection| IP65| IEC 60529:2013 GB/T 4208-2017
EMC| | EN IEC 61000-6-1:2019 EN IEC 61000-6-3:2021
Laser class| Class1| IEC 60825-1:2014
Anti-vibration| Sinusoidal Vibration: 0.75mmamplitude, 10~55~10Hz frequency, 1oct/min sweep speed. Random vibration: 10~500Hz frequency, 0.05g²/Hz power spectral density, 7.02g root mean square, +6dB/oct (10~20Hz) Slope| GB/T 2423.10-2019GB/T 2423.56-2018
Anti-shock| 50g acceleration, I Ims pulse width, 5s interval time, ±3 one-time shocks/axis| IEC 60068-2-27:2008 GB/T 2423.5-2019
Ambient operation temperature| -10℃~55℃|
Relative humidit| 0~85%| no moisture condensation
Certification| CE-EMC/FCC/RoHS2.0, Class 1, FDA registration|

The ranging performance is derived from Oradar’s laboratory tests, which is under standard diffuse
reflective target plates, precision guide rails, temperature control at 25°C and indoor ambient light
conditions. Please contact Oradar for detailed data and test reports. LIDAR is a precision
photoelectric sensor, and its test results are related to the installation method, temperature,
humidity, vibration, environment, and other factors. Please pay attention to protection when using
the sensor and refer to the guidance given by technical support staff for operation.

Measurement accuracy: the absolute error within 10 meters with 10% and 90% reflectivity conditions under laboratory conditions.
Measurement precision: the relative error under laboratory conditions at 10% reflectivity and working distance within 10 meters.
Measurement frequency: output frequency of measurement data calculated with a 360° horizontal field of view.
Angular resolution: 0.12°, 0.18°, 0.24°, 0.30°, 0.36° refer to the angular resolution values at the measurement frequency of 30KHz, corresponding to the rotation frequency of 10Hz, 15Hz, 20Hz, 25Hz, 30Hz, respectively. The actual angular resolution may vary slightly due to the fluctuation of the real-time rotation frequency under the user’s usage scenario.

Interface Description

Identifier
Indicate the direction in front of the LiDAR, the corresponding angle is 180°.
Optical window
The laser pulse is emitted through the window to scan the object within the scanning range.
Mounting hole
The LIDAR has two M3 mounting holes for installation. For detailed dimensions, see
Dimension Details.
Multi-core cable
The multi-core cable is used for LIDAR power supply and time synchronization signal. The
length is 1.0m. Please refer to the Interface Definition for the wire sequence.
Ethernet connector
The Ethernet connector (RJ45) is used for LIDAR data transmission, the length is 1.0m
Please refer to the Interface Definition for the wire order
Indicators
Indicate the system status of the LiDAR
Red: The LiDAR is powered on, lasting for 2s
Flashing in white: The LiDAR is in the initialization state, and the indicator flashes once every
1s.
White: LiDAR is in normal operation with ranging status.
Flashing in red: LiDAR is running fault, and the indicators flashes once every 1s.
Off: If the indicator is off, it means abnormal power supply.

Interface Definition

MS500 has high-reliability Ethernet wire communication and power supplied via multi-core cable. It realizes power supply, control signal transmission and data transmission.

Ethernet connector

There is a RJ45 Ethernet connector on the rear of the housing for connecting the Ethernet interface. The following figure shows the pinout:

Pin No.	Signal	Description	Color
1	TxData+	Data output+	White orange
2	TxData-	Data output –	Orange
3	RxData+	Data input+	White green
6	TxData-	Data output –	Green

Multi-core cable

Pin No.	Signal	Description	Color
1	Power	Input power supply+, DC 9~28V	Red
2	Ground	Input power supply-, gound	Black
3	GPS_PPS	Input 3.3V TTL level, pulse per secon	Blue
4	Sync	Cutput open-drain pulse over zero-angle	White

Installation

Installation Dimensional Structure Diagram

Order MS500 supports two mounting methods. There are four M3 mounting holes with a depth of 7mm on the underside. There are two M3 mounting holes with a depth of 3.5mm on the rear of the housing. There are two positioning.

Pleas install according to the size of Oradar MS500 and the size of the mounting holes shown in the figure below.
Dimensional

Effective Field of View

The scanning angle of Oradar MS500 is 270°, and the laser emission and receiving area is shown in the figure below. When mounting, make sure the effective field of view (scanning angle and laser emission and receiving area) is not obstructed visually, e.g., blocked by a cover. Please refer the 3D model of Oradar MS500 provided by Oradar when designing the installation structure.
Dimensional

Oradar MS500 is designed with a rotating mirror structure, with a blind zone of 90°, located in the area of 45°-0°-315°. The A identifier on the front side of the LiDAR means the angle of 180°

When mounting, make sure the laser emission and receiving area are kept clean and not blocked.

With the upper edge of the receiving area horizontal plane as the reference, at least 5Smm of vertical open space should be reserved on the upper part, and the emission and reception area should not be blocked within the 31.1mm vertical area.

The emission pitch angle of MS500 is slightly different. With underside plane of the housing as the reference, the pitch angle is within £1°, as shown in the figure below. When mounting, the emission pitch angle should be considered to make sure that the emitting laser pulse points to the target objects.

When mounting, make sure that the effective field of view is not blocked and the impact of the
emission pitch angle is considered.

Operation Mechanism

The MS500 LiDAR is set up with 2 operating modes: ranging mode and standby mode.

Ranging mode: LiDAR is activated and working properly.

Standby mode: LiDAR is activated but has not yet emitted the ranging laser pulse.

System Workflow

Ethernet Communication Protocol

The MS500 point cloud data is transmitted outward via Ethernet UDP protocol with factory default IP address 192.168.1.100 and default network port number 2007.

The scan data is received from the LiDAR using a UDP/IP channel. The detailed operation is as follows:

After the iDAR powered up and initialized, the internal ranging module starts to work normally. The host computer needs to send a connection command to establish a connection with the LiDAR first.
After the host computer establishes a connection with the LIDAR, the point cloud data can be acquired.
The point cloud transmission can be turned on or off, and the host computer can send system
commands to parametrize and control the LiDAR. the LiDAR will answer with a reply message after each system command is received, parsed, and executed.

Output Data

The Oradar MS500 outputs point cloud data, which is the collection of all points of the target object in the environment scanned by the LiDAR. Each scanned point includes distance and target reflection intensity information.

When the LiDAR is mounted, as shown below (top view), the LiDAR rotates counterclockwise, i.e. 845° indicates the initial angle and 6315° indicates the end angle, and the data is sent in the order of 845°- 6180°-6315. Each scan cycle (270°) is divided into 6 data blocks of point cloud data, as shown in the following figure:
Dimensional

Communication Protocol

Point Cloud Data Protocol

The LiDAR output point cloud angle range is 45°~315° (total 270° range), and no point cloud data block is output in the shielded angle range (0~45°, 315°~360°). Each scan cycle (270°) is divided into 6 data blocks, and the measurement frequency is fixed at 30kHz, so the length of the point cloud data block varies with the rotation frequency

The relationship between the specific parameters of the point cloud data block and the rotation frequency is shown in the following table:

Table 5-1 The relationship between rotation frequency and data block parameters

Rotation frequency| Measurement frequency| Angular resolution| Point count per rotation cycle| Point count per data block| Bytes per data block
---|---|---|---|---|---
10Hz| 30KHz| 0.12°| 2268| 378| 1154
15Hz| 30KHz| 0.18°| 1512| 252| 776
20Hz| 30KHz| 0.24°| 1152| 192| 596
25Hz| 30K| 0.30°| 200| 150| 470
30Hz| 30KHz| 0.36°| 756| 126| 398

Each point cloud data block comprises frame header information, timestamp, and scan point data. The byte order for all binary data is Big Endian. The format of the point cloud data block is shown in the 2 The for following figure:

Table 5-2 The format of the point cloud data block

The length of the frame header is 8 Bytes, the first 6 bytes are fixed as 4D 53 01 F4 EB 90 (hexadecimal), the next 2 bytes indicate the frame length

The timestamp contains 4 bytes of timestamp information, 1 byte of timestamp synchronization mode information and 1 reserved byte.

The number of scan point in the point cloud data block is N, and N varies with the rotation frequency.

Each scan point contains 2 bytes of distance information and 1 byte of intensity information.

The detailed structure of the point cloud data block is described in the following table:

Table 5-3 The detailed structure of the point cloud data block

Byte	Name	Description	Byte contents	Byte length
Frame
header	Fixed magic bytes	40 53 01 F4 E8 90	6
7-8	Frame length of thehwhole data block	10Hz: 0x0482 15Hz: 0x0308 20Hz:
3×0254 2511z: Ox01D6 30Hz: Ox018E	2
9	Reserved	–	–
10	Reserved			1
1°	Block
information	Information type	4: Scan data for 10Hz rotation frequency5:

Scan data for 15Hz rotation frequency6: Scan data for 20Hz rotation frequency C7: Scan data for 25Hz rotation frequency 08: Scan data for 30Hz rotation frequency| 1
12| •liala block number| 01: Scan data for 45-90° range
02. Scan data for 90-135° range3: Scan data for 135-180° range4: Scan data for 180-225° range5: Scan data for 225-270° range6: Scan data for 270-315° range| 1
13-14| Data block sequence| 1455535| 2
15-18| Timestamp
information| Timestamp| The range is 0-3600e6 will unit as 1us| 4
19| lime sync mode| 0: free-running mode
1: external sync mode| 1
20| Reserved| | I
21-22| Scan point
information| Distance of point _ 1| Unit is 2mm| 2
23| Intensity of point _1| 0-255| 1
2z 25| Distance of point_2| Ur it is 2mm| 2
26| Intensity of point _2| 0-255| 1
| Distance of point_n| Urit is 2mm|
| Intensity of point_n| 0-255|
18+N°3-
19+N3| Distance of point_N| Urit is 2mm| 2
20+N3| Intensity of point_N| 0-255| 1

Angle Information Extraction

The point cloud data block does not contain the angle information directly. The angle information of every scan point should be calculated from the extracted block information, data block number and scan point number n. The calculation is as follows:

Extract the information type from the point cloud data block: e.g., 0x05.
Obtain the angular resolution according to the correspondence between rotation frequency and horizontal angular resolution: e.g., 0.18°.
Extract the data block number in this point cloud data block: e.g., 0x03.
Multiply the data block number by 45 to obtain the starting angle of the point cloud data block: 3 x 45 = 135°
For the nth scan point, the corresponding angle of this point is: the starting angle of this data block + (scan point number – 1) x angular resolution. If n is 100, the corresponding angle is then: 135° + (100- 1)x0.18° = 1562.82°.

Distance and Intensity Information Extraction

The byte length of every scan point is 3, with 2 bytes for distance information and 1 byte for intensity information. The unit of distance information is 2mm. The range of intensity is 0~255, which is the relative intensity level. The distance and intensity information extraction are as follows:

Extract the scan point information of the nth scan point from the point cloud data block: e.g.
0x13,0x25,0x37.
Extract the first two bytes of this scan point information, which is the distance: 0x13, 0x25.
Extract the third byte of the point cloud data information and convert it to decimal, which is the intensity information: 0x37->55.
Combine the distance information bytes into 16 bits of data 0x1325.
Converting the distance information to decimal to obtain: 0x1325->4901.
Multiply with the distance information unit (2mm) to get the absolute distance: 9802mm, .e. 9.802m

Timestamp Information Extraction

Each point cloud data block has its related timestamp information, and the current timestamp information indicates the laser emitting time of the last scan point. The timestamp information is defined is as follows

Length: 4 bytes.
Minimum time unit: Tus.
Time range: 0~3600×106, i.e., Th range. Ealale
Timestamp meaning: the laser emitting time of the last scan point in current data block

The LiIDAR can achieve high precision time synchronization by receiving the PPS signal from external time synchronization devices, in which case the LiDAR runs in external sync mode

When there is no external PPS signal, the LIDAR timestamp is in free-running mode, which timing from according to the LiDAR internal clock

The LiDAR automatically switches to external sync mode when there is an external input PPS signal. The period of PPS signal is 1000ms. When the rising edge of the PPS signal is received, the timestamp of current scan point is synchronized to the PPS signal. Then the timing continues using internal clock until the next PPS arrives. The timestamp extraction is as follows:

Extracting 4 bytes of timestamp information from the point cloud data block: e.g., 0x37, 0x5a, Oxb3,0xe3.
Combine the timestamps into 32 bits of data to obtain: 0x375ab3e3.
Convert the timestamp information to decimal to get: 928,691,171us

Quick Start

For a quick performance evaluation of the LiDAR or customization development based on the product, you can use the Oradar Viewer software, SDK and ROS package provided by Oradar.

Device Connection

The RJ45 Cthernet connector of Oradar MS500 is used to transmit scanning data, and the multi core cable is for external power supply. Please refer to the Interface Definition for detailed description.

For first-time commissioning, a 12V/1A power supply is recommended. The LiDAR can be directly connected to the computer with its IP address as 192.168.1.100 and the subnet mask as 250.250.250.0.
Device Connection

a. Connect the RJ45 Ethernet connector of the LIDAR to the PC.
b. Usea 12V/1A power supply to power the lidar.

IP setting of host computer

The setting method for Windows system is as follows:

a. In Control Panel, enter “Network and Sharing Center”.
b. Click “Ethernet” to jump to the Ethernet status interface and click the “Attribute” button to enter the Ethernet attribute setting interface.
c. Double-click “Internet Protocol Version 4 (TCP/IPV4)”.
d. Set the IP address to 192.168.1.XX (e.g., 192.168.1.10, not the LiDAR address 192.168.1.100), set the subnet mask to 250.250.250.0, and click the “Confirm” button to complete setting the static address of the computer

Itis recommended to use computer with Windows 10 (64-bit) and above operating system, 4-core
2.0GHz and above CPU, and more than 4GB of memory.

Oradar Viewer

Oradar Viewer is an operation software that can display, record, and analyze point clouds in real time. It is convenient for users to evaluate the LiDAR performance and 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 named Oradar Viewer in the unzipped file to use it.

Oradar SDK

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

Please contact your technical support staff for Oradar SDK and related usage manual.

Version Revisions

Version| Revised by| Reviewed by| Release time| |Revisions
---|---|---|---|---
A0| Xiongmaowang|| Xiongmaowang| 2021-09-14| nitial release
Al| Baixiao| Xiongmaowang| 2022-3-5| Updale some indicators.
A2| Baixiao| Xiongmaowang| 2022-5-12| Increase the timestamp and Update some indicators.
A3| Lubinxun| Xiongmaowang| 2023-01-29| |Add operation mechanism

Address
7/F, Block A, Engineering Lab Building, No.7 GaoXin Rd, Nanshan Dist, ShenHen
E-mail
business@oradar.com.cn
Website
http://www.oradar.com.cn

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