RoboSense Airy LiDAR User Guide

RoboSense Airy LiDAR user guide: 96-channel short-range 3D LiDAR with 360°×90° FOV, 0.1m blind zone, MSOP/DIFOP/IMU protocols, Web UI setup, and troubleshooting.

RoboSense Airy LiDAR

RoboSense Airy High-Perf LiDAR: World's first 192-beam hemispherical digital LiDAR, 360°×90° FoV,Integrated IMU. For humanoids, drones, and AMR platforms.

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1. Product Description

1.1 Product Overview

Airy is a new type of short-range 3D LiDAR specifically designed by RoboSense to eliminate blind spots. It is primarily used in applications such as robot environment perception, autonomous vehicle environment perception, drone mapping, and smart cities.

Airy adopts RoboSense innovative signal processing technology, allowing for a minimum detection distance as close as 10 centimeters. With its hemispherical ultra wide field of view design, it can effectively detect various extremely close-range obstacles over a large area.

1.2 Product Structure

The structure diagram of Airy is shown in Figure 1 .

Figure 1 Product Structure Description

It mainly includes the following components:

1. Protective Cover

Both the emitted laser and returned laser need to pass through the specially designed arc-shaped protective cover. Therefore, any obstruction within the laser’s field of view (FOV) is strictly prohibited.

2. Aviation Connector

The LiDAR body is connected to the interface cable via an aviation connector, enabling power supply and data transmission functionalities.

3. Mounting Holes

Used to support and fix the position and orientation between the LiDAR and the bracket, and to enhance installation efficiency and accuracy.

4. M3 Screw Mounting Holes

Used to secure the LiDAR to the mounting bracket with M3 screws.

1.3 FOV Distribution

Airy’s FOV has a horizontal angular range of 0 to 360 degrees and a vertical angular range of 0 to 90 degrees, with an angular interval of approximately 0.947 degrees. The 96 channels, and their corresponding relationship with the real vertical angles are shown in Figure 2 .

Figure 2 Airy FOV Illustration

Airy’s design architecture and scanning sequence result in approximately 9 ms of point cloud unavailability per second, meaning one out of every 10 frames of point cloud data has a gap of about 32 degrees. The starting angle of this gap can be configured in mass production version firmware, allowing users to set it to a position with minimal impact based on actual needs, shown in Appendix A.2.2.

1.4 Specifications

Table 1 Airy Specifications

1. The following data applies only to mass-produced products. Any samples, prototypes, or other non-mass produced versions may not be applicable to these specification data. If you have any questions, please contact Robosense;
2. The ranging capability is based on a 10% NIST diffuse reflectance target; test results may be affected by environmental factors, including but not limited to ambient temperature and light intensity;
3. Measurement Accuracy is based on a 50% NIST diffuse reflection target, and the test results are affected by environmental factors, including ambient temperature and target distance. The accuracy value applies to most channels, but variations may exist between certain channels;
4. Please refer to Appendix E for detailed structural drawings or the complete 3D digital model for specific dimensions.
5. Device Power Consumption test results are influenced by external environmental factors, including ambient temperature, target distance, and target reflectivity;
6. Device Operating Temperature may be affected by external environmental factors,including lighting conditions and airflow variations.

1.5 Product Principle

1.5.1 Coordinate Mapping

As the LiDAR data packet contains only horizontal rotation angles and distance parameters, to present a three-dimensional point cloud, the polar coordinates (angle and distance) are transformed into Cartesian coordinates (x, y, z) according to the following equations:

$x = r*cos(w) * sin(α) + R*cos(α)$

$y = r*cos(w) * cos(α) + R*sin(α)$

$z = r*sin(w)+Z$

where r is the measured distance, ω is the laser’s vertical angle, α is the laser’s horizontal rotation angle, R is the plane radius from the optical center to the origin, Z is the height from the optical center to the origin, and x, y, z are the coordinates projected onto the Cartesian X, Y, Z axes.

1.5.2 Reflectivity Interpretation

Airy LiDAR provides reflectivity information to characterize the reflectance of measured objects. In Airy data, the calibrated reflectivity range is from 1 to 255(This range is a custom value defined by RoboSense products representing the reflectivity of detected target).

1.5.3 Return Modes

1.5.3.1 Return Modes Principle

Airy supports multiple return modes, including Strongest Return, Last Return, and First Return.

Airy analyzes multiple return values received and outputs the strongest, last, first return value based on user selection. In the Strongest Return mode, only the strongest reflected return value is output; in the Last Return mode, only the last detected return in the time domain is output.

1.5.3.2 Return Mode Flags

The default setting for Airy is Strongest Return mode. If users need to change this setting, they can configure product echo mode parameters in Web UI(See Section 4.2).

In DIFOP, the 300th byte is the flag bit for the return mode. For details, refer to Table 2.

Table 2 Return Mode and Flag Bit Reference Table

1.5.4 Phase Locking

Airy’s phase locking function allows the device to emit lasers at specific angles when the sensor reaches a whole second.

Figure 3 illustrates Airy’s setup with different phase angles. The red arrows indicate that at the whole second, the sensor rotates to 0°, 135°, and 270° to emit lasers. Refer to Figure 11 for the coordinate system details.

Figure 3 Airy Phase Lock Setting Illustration

The “Phase Lock” parameter setting is available in the Web UI under Setting > Phase Lock Setting. It allows users to set the locked phase angle, which should be an integer ranging from 0 to 360. For more details, please refer to Section 4.2.

1.5.5 Time Synchronization Method

Airy supports three time synchronization methods: GPS, PTP (IEEE 1588 V2 protocol), and gPTP (IEEE 802.1 AS protocol). Users can configure these settings through Web UI. For more details, please refer to Section 4.2.

1.5.5.1 GPS Time Synchronization Principle

The GPS module continuously sends GPRMC data and PPS synchronization pulse signals to the product. The PPS synchronization pulse length should be between 20 to 200ms, and the GPRMC data must be transmitted 10ms after the falling edge of the PPS synchronous pulse and completed between 300ms and 500ms before the rising edge of the next PPS synchronous pulse. (It is recommended that GPRMC data be sent exactly in the middle of the two PPS pulse signals). The timing diagram is shown in Figure 4 .

Figure 4 GPS Time Synchronization Timing Diagram

1.5.5.2 GPS Time Synchronization Usage

The GPS interface of Airy LiDAR adopts the RS232 protocol. Refer to Table 3 for the pin definition.

Table 3 Product Time Synchronization Pin Definitions

The external GPS module needs to set the output serial port baud rate to 9600 bps, 8 data bits, no parity bit, and 1 stop bit. Airy only reads GPRMC-formatted data sent by the GPS module. The standard format is as follows:

$ GPRMC,<1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>,<9>,<10>,<11>,<12> * hh

<1> UTC time

<2> Positioning status: A = valid positioning, V = invalid positioning

<3> Latitude

<4> Latitude hemisphere N (Northern Hemisphere) or S (Southern Hemisphere)

<5> Longitude

<6> Longitude hemisphere E (Eastern Longitude) or W (Western Longitude)

<7> Ground speed

<8> Ground course

<9> UTC date

<10> Magnetic declination

<11> Magnetic declination direction: E (East) or W (West)

<12> Mode indication (A = Autonomous positioning, D = Differential, E = Estimated, N = Data invalid)

*hh at the end represents the XOR sum of characters from $ to *

1.5.5.3 PTP Synchronization Principle

PTP (Precision Time Protocol, IEEE 1588V2 protocol) is a time synchronization protocol used for high-precision time synchronization between devices. It can also be used for frequency synchronization between devices. Compared to various existing time synchronization mechanisms, PTP offers the following advantages:

1. Compared to NTP (Network Time Protocol), PTP can meet higher precision time synchronization requirements. NTP generally achieves sub-millisecond level time synchronization accuracy, while PTP can reach sub-microsecond level accuracy;
2. Compared to GPS (Global Positioning System), PTP has lower construction and maintenance costs.

1.5.5.4 gPTP Synchronization Principle

gPTP (general Precise Time Protocol, IEEE 802.1AS protocol) is a derivative protocol of PTP in Time-Sensitive Networking (TSN). The synchronization mechanism uses the same P2P peer delay mechanism as the PTP protocol and adopts Ethernet L2 layer communication. Unlike PTP, gPTP requires the use of hardware-based timestamps, i.e., hardware timestamps, so the requirements for switches and master clocks are more stringent, complying with the IEEE 802.1AS protocol.

1.5.5.5 PTP/gPTP Wiring Method

To use PTP/gPTP synchronization, the following preparations are required. Refer to Section 3.4 for connection details:

1. Select PTP/gPTP mode in the Web interface. See Section 4.2 for details;
2. PTP Master/gPTP Master time source (plug and play, no additional configuration required);
3. Ethernet switch;
4. Devices that support PTP/gPTP protocols and need time synchronization.

2. Product Installation

2.1 Accessory Description

The standard accessories included with Airy LiDAR are listed in Table 4 for reference.

Table 4 Standard Accessory List

2.2 Mechanical Installation

The installation diagram of the LiDAR is shown in Figure 5 .

Figure 5 LiDAR Structure Installation Diagram

1. Screw Specifications:a. GB / T70.1, M3×8, hex socket cap head, strength grade 10.9, with anti loosening.
2. Installation Requirements:

a. The flatness of the installation surface should be better than 0.15 mm;

b. Use 3 M3 screws to install on the base, 4.5 mm out of the installation surface. Recommended tightening torque is 13 ±1 kgf.cm;

c. Use 2 Φ3 positioning pins on the base for installation alignment, 3mm out of the installation surface;

d. When installing the LiDAR, if both the top and bottom of the LiDAR have contact surfaces, ensure the distance between the surfaces is greater than the height of the LiDAR to avoid compressing it;

e. When routing the LiDAR cables, do not make them overly tight (leave an installation margin of more than 2 cm) to ensure the cables have proper slack.



Figure 6 Illustration of the Positioning Holes and Screw Holes on the Bottom of the LiDAR

3. Bracket Stiffness and Strength Requirements:
1. The fixed bracket needs to have good rigidity for securely mounting the LiDAR and maintaining the LiDAR in a stable state under various conditions. Therefore, the first-order modal frequency of the LiDAR and its fixed bracket should be at least greater than 50 Hz;
2. The LiDAR will undergo various random vibrations and mechanical shocks during use. Under these conditions, the bracket needs to withstand significant loads, so it also requires sufficient strength. The bracket material is recommended to be aluminum alloy (thickness above 4 mm) or galvanized steel plate (thickness above 2 mm). Strengthening ribs should be added in various directions to improve its rigidity and strength as much as possible. It is advisable to avoid designing structures with sharp angles, corners less than 0.3 mm, or notches, which may cause stress concentration. The bracket strength needs to be verified through simulation.
4. Heat Dissipation Requirements:
1. The bracket material is recommended to be made of aluminum alloy or galvanized steel plate with a thermal conductivity greater than 50 W/m·K. Some heat dissipation fins should be added to the bracket, with reasonable spacing, height, and direction of the fins to increase the heat dissipation area. The direction should align with the air convection direction for more effective heat dissipation;
2. Ensure that the LiDAR base or top cover is not covered with non-metallic materials to avoid affecting the overall heat dissipation, leading to excessive temperature rise of the LiDAR;
3. If you cannot ensure proper heat dissipation, please communicate with our Field Application Engineer (FAE) in advance to determine a suitable cooling solution and prevent the LiDAR from overheating, which could affect the product’s performance or lifespan.

2.3 Interface Description

2.3.1 Aviation Plug Interface and Definitions

The cable aviation plug on the Airy LiDAR side is shown in Figure 7 .

Figure 7 Aviation Plug Interface Pin Numbers

The specific pin definitions of the aviation plug interface on the LiDAR side are shown in Table 5.

Table 5 Aviation Plug Interface Pin Definitions

2.3.2 Interface Cable (Optional)

The optional accessory Interface cable for Airy is shown in the Figure 8 below:

Figure 8 Interface Cable

For detailed specifications of the interfaces on the Interface cable, please refer to Table 6.

Table 6 Interface Cable Interface Specifications

2.3.3 Power Interface

The Airy power interface uses a standard DC 5.5 - 2.1 interface.

If the LiDAR motor does not rotate after connecting the power supply, it may be due to a damaged cable. In this case, please contact RoboSense.

2.3.4 RJ45 Ethernet Port

The Airy Ethernet interface follows the EIA/TIA568B standard.

2.3.5 Sync Interface

The Airy sync interface is defined as follows: GPS GPRMC is for GPRMC signal input, and GPS PPS is for PPS signal input.

2.4 Quick Connection

The Airy network parameters can be configured, and the default factory setting uses fixed IP and port number mode, as shown in Table 7.

Table 7 Default Factory Network Configuration Table

When using the product, the user needs to set the computer’s IP address to be in the same subnet as the product, for example, 192.168.1.x (where x can be any value between 1 and 254), and the subnet mask is 255.255.255.0. For unknown product network configuration information, please connect the product and use Wireshark to capture the output package of the product for analysis. The IP configuration and connection methods are as follows:

1. Connecting the LiDARThe connection method is shown in Figure 9

a. Connect the LiDAR using the aviation plug;

b. Connect the PC and LiDAR using the RJ45 Ethernet port;

c. After powering on, the LiDAR can work normally.



Figure 9 Interface Cable Connection Diagram

2. By using Wireshark to capture packets, analyze the ARP messages to perform local IP configuration
1. Perform the following steps after the LiDAR and PC are connected: Start Wireshark (a third-party network analysis tool) and select the correct network interface to begin capturing packet;
2. Use the search box in Wireshark and enter “arp” to search for the mutual addressing packets between the LiDAR and PC, as shown in Figure 10 ;


Figure 10 Analyzing ARP Packets

3. In Figure 10 , the “SutengIn” in the Source column indicates the source information of the LiDAR, indicating that the Source IP is 192.168.1.200, which is the LiDAR’s IP. The request is accessing 192.168.1.102, which is the PC’s IP. If the local IP is not the requested access IP, then configure the PC’s local IP as 192.168.1.102 as shown in step 3. If the access is successful, proceed to step 4.

4. Connection Completed

3. Product Usage

3.1 Product Coordinate System

The coordinates and rotation direction of the product are shown in Figure 11 . The LiDAR coordinate origin values and the calibrated IMU extrinsic parameters can be fetched through RoboSense LiDAR SDK or certain parts in DIFOP.

Figure 11 LiDAR Coordinate and Rotation Direction Illustration

3.2 Web UI Usage

3.2.1 Web UI Functions

Airy supports parameter settings, viewing of operational information/status, and firmware upgrades through the Web UI.

The Airy web address changes according to the Device IP. The default Device IP is 192.168.1.200. If you have changed the Device IP, the web address will be the newly set IP.

3.2.2 Accessing the Web UI

Once the product is connected and correctly configured as required, use a computer browser to access the product’s IP address (default Device IP: 192.168.1.200) to enter the Airy Web UI omepage. The default page is the “Device” tab.

3.2.3 Using the Web UI

For detailed instructions on using the Web UI, please refer to Appendix A.

3.3 RSView Usage

For data visualization with Airy, you can use free tools such as Wireshark and tcp dump to obtain raw data. RSView can provide a more convenient way to visualize the raw data.

3.3.1 Software Functions

RSView enables real-time visualization of Airy data. It can also replay data saved in “.pcap” file format, but does not support “.pcapng” files at the moment.

In RSView, the distance measurement values obtained by Airy are displayed as points. It supports various custom colors to display data, such as reflection intensity, time, distance, horizontal angle, and laser beam index. The displayed data can be exported and saved in “.csv” format, and RSView version 3.1.3 and later versions support exporting data in “.las” format.

RSView includes the following features:

1. Real-time display of data via Ethernet;
2. Save real-time data as PCAP files;
3. Replay data from recorded PCAP files;
4. Various visualization modes, such as distance, time, horizontal angle, etc;
5. Display point data in tabular format;
6. Export point cloud data as CSV files;
7. Distance measurement tool;
8. Display multiple frames of replayed data simultaneously;
9. Show or hide individual laser beams from Airy;
10. Cropping display.

3.3.2 Installing RSView

RSView can be run on Windows 64-bit and Ubuntu 18.04 or higher operating systems. You can download the latest version of RSView software compressed package from the RoboSense official website (https://www.robosense.ai/en/resources). After downloading, make sure the extraction path does not contain Chinese characters. The software does not require installation; simply run the executable file after extraction to use it.

3.3.3 Using RSView

After opening RSView, you can access the user guide by pressing the F1 button or by clicking on the “RS-LiDAR User Guide” option in the Help menu.

3.4 Communication Protocols

Airy communicates with a computer via Ethernet using UDP (User Datagram Protocol). The communication protocols between Airy and the computer fall into two categories, as described in Table 8.

Table 8 Protocol Overview

3.4.1 MSOP and DIFOP Data Protocol

3.4.2 Main Data Stream Output Protocol (MSOP)

Main data Stream Output Protocol, abbreviated as MSOP.

I/O Type: Product output, computer parsing.

The default port number is 6699.

3.4.2.1 Header

The frame header (Header) is 42 bytes in total and is used to identify the start position of the data. For details on the data structure, refer to Table 9.

Table 9 MSOP Header Data Table

3.4.2.2 Data Block

As shown in Table 10, Data block is the part of sensor measurement value in MSOP package, with a total of 1184 bytes. It consists of eight Data Blocks, each of which is 148 bytes long.

Data block in the space of 148 bytes includes: a sign of 2 bytes, use 0xffee said; Azimuth of 2 bytes, indicating the horizontal rotation Angle information, each Angle information corresponds to 48 channel data.

Table 10 Data Block Definition

1. Channel Data Definition

Channel data is 3 bytes, with the high two bytes used to represent distance information and the low one byte used to represent reflectivity information, as shown in Table 11 .

Table 11 Channel Data

Channel data（3 bytes）
2 bytes Distance	1 byte Reflectivity
Distance1 [15:8]	Distance2 [7:0]	Reflectivity

💡

Note: Distance is 2 bytes，resolution is 0.5 cm.



Figure 13 MSOP Packet Illustration

Red Box: Header ID

Green Box: LiDAR Type and LiDAR Model

Blue Box: Data Block Flag

Black Box: Azimuth Value for Channel Data 1

Yellow Box: Distance Value for Channel Data 1

Orange Box: Reflectivity Value for Channel Data 1

The distance value of the data packet is calculated as follows:

a. The hexadecimal distance values in the data packet: 0x01, 0x0D;

b. Combine the data into 16 bits as a 16-bit unsigned integer, represented as: 0x010D;

c. Convert the distance value to a decimal number: 269; then calculate based on the distance resolution;

d. Result: 269 × 0.5 cm = 134.5 cm = 1.345 m.

Angle Value Calculation in Data Packet:

a. The hexadecimal angle values in the data packet: 0x00, 0x8B;

b. Combine the data into 16 bits as a 16-bit unsigned integer, represented as: 0x008B;

c. Convert to a decimal number: 139, then divide the decimal result by 100;

d. Result: 139°/100 = 1.39°.

Reflectivity Value Calculation in Data Packet:

a. The hexadecimal reflectivity value in the data packet: 0x6E;

b. Convert to a decimal number: 110;

c. The resulting reflectivity value is 110.

2. Angle Value Definition:

In each Block, the angle value output by Airy is the angle at which the first channel laser range finding occurs. This angle value is derived from the angle encoder, where the zero position of the angle encoder is the zero point of the angle. The resolution for horizontal rotation angle values is 0.01°.

3.4.2.3 Tail

Frame Tail (Tail) is 6 bytes long, with 4 bytes reserved for information and 2 bytes set to 0x00, 0xFF.

3.4.3 Device Info Output Protocol (DIFOP)

Device Info Output Protocol, abbreviated as DIFOP.

I/O Type: Product output, computer read.

The default port number is 7788.

DIFOP is an “output-only” protocol used to periodically send information such as product serial number (S/N), firmware version, computer driver compatibility information, configuration information, angle information, running status, fault diagnosis, etc., to users. Users can read DIFOP to interpret specific information about the currently used product.

A complete DIFOP packet has a data format structure of synchronization header, data area, and tail. Every packet has 1248 bytes totally. The basic structure of the data packet is shown in Table 12.

Table 12 Data Format Structure of DIFOP Packet

3.4.4 IMU Data Stream Output Protocol

I/O Type: Product output, computer read.

The default port number is 6688.

The IMU output is the attitude information of IMU in the product, which can be used to adjust the external parameters of the customer’s products. The data format structure of a complete IMU packet is frame header, data area, and frame tail. Each packet contains 51 bytes. The basic structure of the packet is shown in Table 13

Table 13 IMU Data Format Structure

4. Fault Diagnosis

This chapter lists some common problems encountered during the use of the product and their corresponding troubleshooting methods. For details, refer to Table 14.

Table 14 Common Fault Troubleshooting Methods

Appendix A Web UI Operation

A.1 Product Information

The Lidar Web UI defaults to the product information page, as shown in Figure 14 :

Figure 14 Web Page Information

1. Top Board Firmware Version indicates the mainboard firmware version;
2. Bottom Board Firmware Version indicates the baseboard firmware version;
3. Software Version indicates the version of software;
4. Motor Firmware Version indicates the motor version;
5. S/N indicates the serial number of the product;
6. Mac Address Indicates address of the Mac;
7. Model is the product name.

A.2 Product Parameter Setting

A.2.1 General Setting

The “General Setting” bar at the end of the web page is the basic parameter setting page of LiDAR, where you can change the Settings of Device IP, port number, echo mode, speed and Angle trigger. The schematic diagram and function description are shown in Figure 15 :

Figure 15 Web Side Lidar Setting Information

1. Supports unicast (default)/broadcast mode. Set the Destination IP to 255.255.255.255 for broadcast mode, with the factory default being 192.168.1.102;
2. The data port of MSOP and DIFOP can be changed. The value ranges from 1025 to 65535;
3. The web can select the Strongest return(default)/Last return/first return modes from the Return Mode drop-down list;
4. The web can select GPS, PTP-E2E, PTP-P2P, PTP-GPTP, and PTP-E2E L2 from the “Time Synchronization Source” drop-down list to determine the time synchronization mode;
5. The time synchronization domain of PTP can be changed. The value ranges from 0 to 127;
6. Drop down “Respond To PeerDelayRequest” to select OFF (default) and ON to determine whether the LiDAR acts as the slave to respond to peer delay request requests from other nodes;
7. Drop down “No Leap Second” to select OFF (default) and ON to determine whether to respond to the leap second deviation setting of the announce packet;
8. Change the timeout period (5s by default) for the device to exit the time synchronization state due to the loss of the time master message. The value ranges from 1 to 255 seconds;
9. Change the offset threshold (default: 1ms) of the device that switches from the non-synchronous state to the synchronous state. The value ranges from 1 to 255 ms.;
10. Change the offset threshold (default: 20ms) between the master and the device that switches from the synchronous state to the non-synchronous state. The value ranges from 1 to 255 ms;
11. Drop down “Operation Mode” to select two working modes: Standby/High Performance (default). When the Standby mode is selected, the lidar motor and transmitter stop working;
12. The Phase lock Angle of the device can be changed. The value ranges from 0 to 360 Degree;
13. Drop down “GPS Baud Rate” to select GPS Baud rate, which can be 9600 (default), 14400, 19200, 38400, 43200, 57600, 76800, and 115200;
14. Drop down “Imu Ctrl” to select OFF and ON (default) to determine whether to enable the control interface for the IMU function;
15. Change the communication port of the IMU. The value ranges from 1025 to 65535;
16. Drop down “Imu Output” Rate and select 25Hz/50Hz/100Hz/200Hz (default) to change the IMU output data update frequency;
17. Drop down “Accel Range” and select [-2g,2g]/[-4g,4g] (default) /[-8g,8g]/[16g,16g] to change the maximum acceleration range of the IMU accelerometer;
18. Drop down “Gyro Range” and select [-250,250]dps/[-500,500]dps (default) /[-1000,1000]dps/[-2000,2000]dps to change the range of the IMU gyroscope;
19. To confirm whether the” Restore Default” function is enabled, select OFF and ON from the Restore Default drop-down list.

A.2.2 Performance Setting

The “Performance Setting” bar at the end of the web page is the LiDAR advanced parameter setting page, where the LiDAR reflectivity performance, drag point and rain

and fog filtering and other advanced functions can be set. The schematic diagram and function description are shown in Figure 16 :

Figure 16 Advanced Function Setting

1. Drop down “Reflectivity Enhancement” to select OFF (default) and ON to determine whether the reflectivity enhancement function is enabled;
2. Drop down “Trail Filter Level” and select 1/2/3/4 (default)/5 to confirm the trailing filter level;
3. Drop down “Rain/Blockage Detection Distance” and select 30cm (default) /20cm/10cm to confirm the rain/blockage detection distance;
4. Drop down “Blockage Detection Sensitivity” and select high (default) /medium/low to control the sensitivity of Lidar to occlusion;
5. The Frame Start Angle(Start Angle of the gap) of the device can be changed. The value ranges from 0 to 360 Degree;
6. Drop down “Dead Zone 10cm Enable” and select On(default)/Off to choose whether to enable the point cloud information within the blind zone;
7. Drop down “Channel 81 85 89 93” and select On/Off (default) to select whether to enable channels 81, 85, 89 and 93;
8. Drop down “Gap Filling Enable” and select On/Off(default) to select whether to perform information filling for the point cloud vouds for 32 degree every ten frames.

A.2.3 Angle Pulse Setting

The column “Angle Pulse Setting” on the webpage is the setting page of LiDAR Angle pulse trigger, where the LiDAR Angle trigger signal can be set. The schematic diagram and function description are shown in Figure 17 :

Figure 17 Angle Pulse Setting

1. Trigger Mode: There are two starting Angle modes. Mode 1 increases the starting pulse width by 25% (default), and mode 2 does not increase the starting pulse width;
2. Group: This column indicates the SYNC OUT group. Airy includes SYNC OUT1;
3. Pulse Trigger Switch: Enable or disable the Trigger function. When ON is selected for Pulse Trigger Switch, the editable state is enabled, and the editable state is gray when the Pulse trigger switch is disabled;
4. Pulse Start Angle: The corresponding start Angle can be set. The input value must be an integer;
5. Pulse Width: The corresponding pulse width can be set;
6. Pulse Step: The step can be set. The input value must be a floating point number with one decimal place reserved.

A.3 Product Diagnostics/Operational Status

On this page, the operating status of LiDAR can be viewed in real time, including voltage, current, real-time speed, running time, temperature and other information, as shown in Figure 18 :

Figure 18 Web Running Status or Fault Diagnosis

1. View Machine Temperature to obtain the current product operating temperature;
2. View the RPM to obtain the current real-time rotational speed information;
3. View the Phase to obtain the current rotation phase of the product;
4. Laser Status has two states: “On” (default) and “Off”. When the user sets the Standby mode, “Off” is used;
5. View the Time Sync Mode to obtain the time synchronization mode of the LIDAR;
6. View Time Sync Data to obtain time synchronization data of LiDAR;
7. View PPP Status to obtain the PPS status;
8. View GPRMC Status to obtain GPRMC status;
9. View Time Sync Status to obtain the current time synchronization status. Lock indicates that the time is locked successfully, Unlock indicates that the time is not synchronized successfully;
10. View Startup Times to obtain the total startup times of the current product, which is added up once after each power off and restart;
11. View Elapsed time to obtain the total running time and the accumulated working time of the product under each temperature.

A.4 Product Firmware Upgrade

Click on the webpage “System”, this page can upgrade the firmware of the product App, baseboard and mainboard, as follows:

1. Please contact RoboSense to get the firmware upgrade. When the firmware to be upgraded is ready, click “Select File”, as shown in Figure 19 ;


Figure 19 Step1 Click Select File

2. Select the folder corresponding to the firmware to be upgraded, select the firmware to be upgraded, and click “Open” (no Chinese characters appear in the path), as shown in Figure 20 ;


Figure 20 Select the File in the Path where the Upgrade Package is Stored

3. At this time, the file name of the firmware to be upgraded will be displayed on the web interface. Select the corresponding upgrade button to upgrade the corresponding firmware, as shown in Figure 21 .


Figure 21 The Page is Displayed after the Upgrade File is Selected

Appendix B DIFOP Data Definitions

This appendix supplements the definitions of each item in the DIFOP protocol outlined in Section 4.4.3, facilitating user understanding for product use and development. For calculations, big-endian mode is used, and “Value” represents the decimal number derived from the corresponding offset bytes.

B.1 Motor Speed（MOT_SPD）

Table 15 Motor Speed Settings

B.2 Ethernet（ETH）

Table 16 Ethernet

B.3 Mainboard Firmware Version (TOP_FRM)

Table 17 Mainboard Firmware Version

B.4 Baseboard Firmware Version (BOT_FRM)

Table 18 Baseboard Firmware Version

B.5 APP Firmware Version (SOF_FRM)

Table 19 APP Firmware Version

B.6 Motor Firmware Version (MOT_FRM)

Table 20 Motor Firmware Version

B.7 Product Serial Number（SN）

Table 21 Product Serial Number

B.8 Time Sync Mode Setting（TIME_SYNC_INFO）

Table 22 Time Sync Information

B.9 Time（UTC_TIME）

Table 23 Register of Time

B.10 Real-time Motor Speed（REALTIME_ROTATION_SPEED）

Table 24 Real-time Motor Speed

B.11 Vertical Angle Calibration（COR_VERT_ANG）

Table 25 Vertical Angle Calibration Register

B.12 Horizontal Angle Calibration（COR_HOR_ANG）

Table 26 Horizontal Angle Calibration Register

B.13 Mainboard Input Voltage（MAINBOARD_VOLTAGE）

Table 27 Mainboard Input Voltage

B.14 Device Input Voltage (MACHINE_VOLTAGE)

Table 28 Device Input Voltage

B.15 Baseboard 12V Voltage (BASEBOARD_VOLTAGE（12V））

Table 29 Baseboard 12V Voltage

B.16 Mainboard Emission Temperature (MAINBOARD_EMIT_TEMP)

Table 30 Mainboard Emit Temperature

B.17 IMU Calibration Data（IMU_CALIB_DATA）

Table 31 IMU Data

Appendix C Structural Drawings

RoboSense Airy LiDAR

RoboSense Airy High-Perf LiDAR: World's first 192-beam hemispherical digital LiDAR, 360°×90° FoV,Integrated IMU. For humanoids, drones, and AMR platforms.

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On this page

• RoboSense Airy LiDAR User Guide
• 1. Product Description
• 1.1 Product Overview
• 1.2 Product Structure
• 1.3 FOV Distribution
• 1.4 Specifications
• 1.5 Product Principle
• 1.5.1 Coordinate Mapping
• 1.5.2 Reflectivity Interpretation
• 1.5.3 Return Modes
• 1.5.3.1 Return Modes Principle
• 1.5.3.2 Return Mode Flags
• 1.5.4 Phase Locking
• 1.5.5 Time Synchronization Method
• 1.5.5.1 GPS Time Synchronization Principle
• 1.5.5.2 GPS Time Synchronization Usage
• 1.5.5.3 PTP Synchronization Principle
• 1.5.5.4 gPTP Synchronization Principle
• 1.5.5.5 PTP/gPTP Wiring Method
• 2. Product Installation
• 2.1 Accessory Description
• 2.2 Mechanical Installation
• 2.3 Interface Description
• 2.3.1 Aviation Plug Interface and Definitions
• 2.3.2 Interface Cable (Optional)
• 2.3.3 Power Interface
• 2.3.4 RJ45 Ethernet Port
• 2.3.5 Sync Interface
• 2.4 Quick Connection
• 3. Product Usage
• 3.1 Product Coordinate System
• 3.2 Web UI Usage
• 3.2.1 Web UI Functions
• 3.2.2 Accessing the Web UI
• 3.2.3 Using the Web UI
• 3.3 RSView Usage
• 3.3.1 Software Functions
• 3.3.2 Installing RSView
• 3.3.3 Using RSView
• 3.4 Communication Protocols
• 3.4.1 MSOP and DIFOP Data Protocol
• 3.4.2 Main Data Stream Output Protocol (MSOP)
• 3.4.2.1 Header
• 3.4.2.2 Data Block
• 3.4.2.3 Tail
• 3.4.3 Device Info Output Protocol (DIFOP)
• 3.4.4 IMU Data Stream Output Protocol
• 4. Fault Diagnosis
• Appendix A Web UI Operation
• A.1 Product Information
• A.2 Product Parameter Setting
• A.2.1 General Setting
• A.2.2 Performance Setting
• A.2.3 Angle Pulse Setting
• A.3 Product Diagnostics/Operational Status
• A.4 Product Firmware Upgrade
• Appendix B DIFOP Data Definitions
• B.1 Motor Speed（MOT_SPD）
• B.2 Ethernet（ETH）
• B.3 Mainboard Firmware Version (TOP_FRM)
• B.4 Baseboard Firmware Version (BOT_FRM)
• B.5 APP Firmware Version (SOF_FRM)
• B.6 Motor Firmware Version (MOT_FRM)
• B.7 Product Serial Number（SN）
• B.8 Time Sync Mode Setting（TIME_SYNC_INFO）
• B.9 Time（UTC_TIME）
• B.10 Real-time Motor Speed（REALTIME_ROTATION_SPEED）
• B.11 Vertical Angle Calibration（COR_VERT_ANG）
• B.12 Horizontal Angle Calibration（COR_HOR_ANG）
• B.13 Mainboard Input Voltage（MAINBOARD_VOLTAGE）
• B.14 Device Input Voltage (MACHINE_VOLTAGE)
• B.15 Baseboard 12V Voltage (BASEBOARD_VOLTAGE（12V））
• B.16 Mainboard Emission Temperature (MAINBOARD_EMIT_TEMP)
• B.17 IMU Calibration Data（IMU_CALIB_DATA）
• Appendix C Structural Drawings