Livox Mid, Mid-40, Mid-100 User Manual

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Livox Mid Series

User Manual

2019.01

v1.0

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Using this Manual

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Visit the link below to download the latest Livox Mid Series User Manual and other documents related

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Visit the link below to download Livox Viewer.

www.livoxtech.com/mid-40-and-mid-100

Contents

Using this Manual

Legend

Downloading Documents

Downloading Livox Viewer

Product Prole

Introduction

Product Characteristics

Overview

Connectors

LiDAR Connector

Power Cable and Sync Cable

Ethernet Port

Mounting the Livox Mid Series

Effective Field of View (FOV) Range

Dimensions

Getting Started

External Power Supply

Connection

Usage

Coordinates

Output Data

Working States & Working Modes

Rain/Fog Suppression

Livox Viewer

Software Development Kit (SDK)

Storage, Transportation, and Maintenance

Storage

Transportation

Maintenance

After-sales information

Troubleshooting

Appendix

Appendix 1

Appendix 2

Appendix 3

Appendix 4

Specications 27

Product Prole

Introduction

The Livox Mid-40 and the Livox Mid-100 are high-performance LiDAR sensors that can be used for

multiple applications including autonomous driving, robot navigation, dynamic path planning, and high-

precision mapping.

Both the Livox Mid-40 and Livox Mid-100 have a detection range of up to 260 meters.

Non-repetitive Scanning Technology: The unique non-repetitive scanning technology owned by Livox

ensures a high-density point cloud, and can precisely detect every detail inside the eld of view (FOV).

High Reliability: The Livox Mid series has undergone high-temperature endurance tests, salt spray

tests, and other rigorous reliability testing required by the automotive industry. In addition, the Livox

Mid series has achieved an IP67 waterproof and dustproof rating under GB 4208-2008 and IEC 60529

standards.

Environmental Adaptation: The Livox Mid series maintains a consistent performance in a wide range of

lighting conditions, from 100 kilolux to darker, low-visibility environments. Thanks to the innovative de-noising

algorithms built-into the unit, the Livox Mid series is able to effectively reduce the noise caused by

atmospheric particles such as rain, fog, and dust, as well as interference from other LiDAR sensors.

User-friendly Livox Viewer: Livox Viewer is a Windows software specially designed for Livox LiDAR

sensors. It displays real-time point clouds, and the simple interface makes it easy to use.

Livox SDK: A software development kit (SDK) is provided to help develop customizable applications

using the data acquired from point clouds.

• 260 m can be reached when the target object reflects 80% or more of light (e.g., grey concrete

walls and roads have a reflectivity range from 15% to 30%, while white plaster walls have a

reflectivity range from 90% to 99%) in an environment with a temperature of 77° F (25° C).

• The Livox Mid-40 and the Mid-100 have basically the same functionalities. The only difference between the Livox Mid-40 and Livox Mid-100 is that the Livox Mid-100 is a three-in-one version of the Livox Mid-40. The general descriptions in the user manual apply to both the Livox Mid-40 and Livox Mid-100.

Product Characteristics

The Livox Mid-40 and Livox Mid-100 have a high coverage ratio due to their unique non-repetitive

scanning technology. Over time, the coverage inside the FOV increases signicantly and reveals more

detailed information of the surroundings.

Figures 1.2.1 and 1.2.2 display the typical point cloud patterns of the Livox Mid-40 and Livox-100

over an extended period. The point cloud pattern of the Livox Mid-100 is composed of the point cloud

patterns of three Livox Mid-40 LiDAR sensors.

1 s

Figure 1.2.1 Point cloud patterns of the Livox Mid-40 accumulated over an extended period

0.1 s 0.2 s 0.5 s

Livox Mid Series User Manual

0.1 s

0.5 s 1 s

Figure 1.2.2 Point cloud patterns of Livox Mid-100 accumulated over an extended period

0.2 s

Figure 1.2.3 displays the FOV coverage of Livox LiDAR sensors compared with other non-Livox LiDAR

sensors that use common mechanical scanning methods. The diagram shows that when the integration

time is less than 0.1 seconds, the FOV coverage of the Livox Mid-40 is similar to the 32-line LiDAR

sensor. As the integration time increases, however, the FOV coverage of the Livox Mid-40 increases

signicantly while the 32-line LiDAR sensor remains the same. After 0.5 seconds, the FOV coverage of

the Livox Mid-40 is the same as the 64-line LiDAR sensor. After 1.4 seconds, the FOV coverage would

approach 100%, so almost all areas would be illuminated by laser beams. In this way, more details in

the FOV can be revealed

Figure 1.2.3 The FOV coverage of the Livox Mid-40 and non-Livox LiDAR sensors using common mechanical scanning

methods. The 16-line non-Livox LiDAR sensor has a vertical FOV of 30°, the 32-line non-Livox LiDAR sensor is 41°,

100

Livox Mid-40

FOV Coverage (%)

0 0.2 0.4 0.6 0.8 1 1.2 1.4

Integration time (s)

and the 64-line non-Livox LiDAR sensor is 27°.

64 lines

32 lines

16 lines

The performance of the scanning method is defined by the FOV coverage, which is calculated as

the fraction of FOV illuminated by laser beams. The FOV coverage (C) can be calculated with the

following formula:

Total area illuminated by laser beams

C =

Refer to the official Livox website for more information about how the FOV coverage is calculated.

Total area in FOV

×100%

Livox Mid Series User Manual

Laser Wavelength 905 nm

Laser Safety Class 1 (IEC 60825-1:2014)

Detection Range (@100 klx) 90 m @ 10% reectivity

130 m @ 20% reectivity

260 m @ 80% reectivity

FOV Livox Mid-40: 38.4° (circular)

Livox Mid-100: 98.4° (Horizontal) × 38.4° (Vertical)

Range Precision (1σ @ 20 m) 2 cm

Angular Accuracy < 0.1°

Beam Divergence 0.28° (Vertical) × 0.03° (Horizontal)

Point Rate Livox Mid-40: 100,000 points/s

Livox Mid-100: 300,000 points/s

False Alarm Ratio (@100 klx) < 0.01%

Table 1.2.1 Point cloud specications

• The Livox Mid series cannot detect objects which are less than 1 m away. Contact Livox if you

require LiDAR sensors that can detect objects within a range of 1 m.

• The range precision was tested in an environment at a temperature of 77° F (25° C) with a target object that had a reflectivity of 80% and was 20 m away from the Livox Mid series LiDAR

sensors. The actual environment may differ from the testing environment. The figure listed is for reference only.

Overview

Livox Mid-40

2 3

1. Optical Window

The laser passes through the optical window and scans objects in the FOV.

2. Fan (Air Inlet)

Only dissipates heat when the temperature of

the LiDAR sensor is high. Make sure there are at least 10 millimeters between the fan (air inlet)

and the nearest objects.

3. Mounting Holes

M3 mounting holes. Make sure to use the

correct screws when mounting.

4. LiDAR Connector

Connects to the Livox Converter. The LiDAR Connector can be customized. Refer to the

Cables section for more information.

5. Air Outlet

Dissipates heat. Make sure there are at least 10 millimeters between the air outlet and the nearest objects.

Livox Mid-100

1 2

3 4

Livox Mid Series User Manual

1. LiDAR Connector

Connects to the Livox Converter. The LiDAR

Connector can be customized. Refer to the

Cables section for more information.

2. Fan (Air Inlet)

Only dissipates heat when the temperature

of the LiDAR sensor is high. Make sure there

are at least 10 millimeters between the fan (air

inlet) and the nearest objects.

3. M3 Mounting Holes

M3 mounting holes. Make sure to use the

correct screws when mounting.

Livox Converter

1. LiDAR Connector Port

A JAE MX34012NF1 type connector port used

to connect to Livox Mid series LiDAR sensors.

Only compatible with JAE MX34012SF1 type

LiDAR connectors.

2. Power Port

A MOLEX 105313-1102 type power port used

to connect to an external power supply. Only

compatible with MOLEX 105307-1202 (LiDAR)

connectors.

4. ¼ Inch Mounting Hole

Can be mounted on a tripod or other bases

outtted with a ¼ inch screw.

5. Air Outlet

Dissipates heat. Make sure there are at least

10 millimeters between the air outlet and the

nearest objects.

6. Optical Window

The laser passes through the optical window

and scans objects in the FOV.

2 3 4

3. Ethernet Port

An RJ45 type Ethernet connector used to

connect to Ethernet cables.

4. Sync Port

A JST SM03B-GHS-TB type sync port used

to connect to sync cables. Only compatible

with JST GHR-03V-S type connectors.

Livox Mid Series User Manual

Connectors

LiDAR Connector

Below is more information on the LiDAR connector and extensible power cables connector. Users

can customize the connectors based on their needs for power supply, data transmission, and data

synchronization.

21 5876

1211109

Figure 2.1.1 LiDAR and Extensible Cable Connector

Pin Signal Type Description

1 Power+ Power DC 10-16 V(max 16 V)

2 Ground Power Ground

3 Ethernet_TX+ Output 100BASE-TX, TX+

4 Ethernet_TX- Output 100BASE-TX, TX-

5 Ground Power Ground

6 Sync+ Input RS485_A, Pulse Per Second

7 Power+ Power DC 10-16 V(max 16 V)

8 Ground Power Ground

9 Ethernet_RX+ Input 100BASE-RX, RX+

10 Ethernet_RX- Input 100BASE-RX, RX-

11 Ground Power Ground

12 Sync- Input RS485_B, Pulse Per Second

Table 2.1.1 LiDAR and Extensible Cable Connector Description

SYNC signal description

Pulse Per Second

(PPS)

Figure 2.1.2 Sync signal description

t0=1s

1ms<t1<300ms

Refer to the Software Development Kit (SDK) section for more information about the sync signal.

Livox Mid Series User Manual

Power Cable and Sync Cable

The Livox Mid series cables package includes a power cable and sync cable.

Power Cable

Connect “A” to the power port of the Livox Converter and connect “B” to an external DC power supply.

1 2

A B

Figure 2.2.1 Power cable

500±25

Pin Signal Type Description Color

1 Power+ Power DC 10-16 V (max 16 V) Red

2 Ground Power Ground Black

Table 2.2.1 Power cable description

Sync cable

Connect “A” into the sync port of the Livox Converter and connect “B” to the sync signal. Refer to the

Data Synchronization section for more information.

A B

1 2 3

Figure 2.2.2 Sync cable

500±25

1 2

Pin Signal Type Description Color

1 Ground Power Ground Black

2 Sync+ Input RS485_A, Pulse Per Second Blue

3 Sync- Input RS485_B, Pulse Per Second White

Table 2.2.2 Sync cable description

Ethernet Port

The Livox Mid series LiDAR connector can be converted to an RJ45 Ethernet type port by using the

Livox Converter. The Livox Mid series supports 100BASE-TX and uses two twisted pairs to send and

receive data.

Mounting the Livox Mid Series

Effective Field of View (FOV) Range

The circular FOV of the Livox Mid-40 is 38.4°. The Livox Mid-100 is a three-in-one version of the Livox Mid-40. To ensure the performance of the Livox Mid-100, the FOV ranges of the three LiDAR sensors are overlapped. Consequently, the actual FOV of the Livox Mid-100 is 98.4°. When mounting a Livox Mid Series LiDAR sensor, make sure that the FOV is not blocked by any objects.

38.4°

19.2°

45.70

38.4°

19.2°

39.70

Unit: mm

98.4°

38.4°

19.2°

Figure 3.1.1 Effective FOV of the Livox Mid-40

Figure 3.1.2 Effective FOV of the Livox Mid-100

Dimensions

Livox Mid-40 Dimensions

Refer to the dimensions and the mounting holes in the gures below to mount or embed the Livox Mid-40 to or in an appropriate place on the target base. When the base is outtted with ¼ inch mounting holes, it is recommended to rst attach the Livox Mid-40 to the mounting bracket and then mount the Livox Mid40 using the ¼ inch mounting hole on the mounting bracket. There are several M3 screw holes available

on the sides of the mounting bracket to help mount the Livox Mid-40 based on the requirements.

45.70

15.60

40.50

Figure 3.2.1 Livox Mid-40 Dimensions (refer to Appendix 1)

3×4 1.2

4-M3 6

1.23

20.30

Unit: mm

Weight (with cable) 710 g

Dimensions 88 × 76 × 69 mm

Table 3-2-1 Livox Mid-40 Weight & Dimensions

3-M3 6

Livox Mid-40 Mounting Bracket

30°

3-M3 6

Figure 3.2.2 Livox Mid-40 Mounting Bracket Dimensions (refer to Appendix 2)

1/4-20

UNC

3-M3 6

Unit: mm

Weight 101 g

Dimensions 88 × 69 × 18 mm

Table 3-2-2 Livox Mid-40 Mounting Bracket Weight & Dimensions

Livox Mid-100 Dimensions

The Livox Mid-100 is outtted with four M3 mounting holes on the bottom, and can be mounted using

the M3 screws. Additionally, a 1/4 inch mounting hole is also available on the center of the bottom.

When mounting the Livox Mid-40 to a tripod or other target base outtted with ¼ inch mounting holes,

users can use this hole. Refer to the dimensions and the mounting holes in the gures below to mount

or embed the Livox Mid-100 to or in an appropriate place on the target base.

12.5

1/4-20 UNC

4×5

60°

6×M3

142

R7.63

132

214 230

39.70

37.50

38 38

57 70

128

Figure 3.2.3 Livox Mid-100 Dimensions (refer to Appendix 3)

Weight (with cable) 2200 g

Dimensions 142 × 70 × 230 mm

Table 3.2.3 Livox Mid-100 Weight & Dimensions

Unit: mm

Livox Mid Series User Manual

Power (W)

Livox Converter

Refer to the dimensions below to mount the Livox Converter.

4×M2 5

Figure 3.2.4 Livox Converter Dimensions (refer to Appendix 4)

24.9

Unit: mm

Weight 66 g

Dimensions 52 × 58 × 25 mm

Table 3.2.4 Livox Converter Weight & Dimensions

Getting Started

External Power Supply

The working voltage of the Livox Mid series is 10 V to 16 V. The working power of the Livox Mid-40 is 10 W,

while the Livox Mid-100 is 30 W. After powering on, the Livox Mid series LiDAR sensors may reach peak

power, which may last for short periods. The lower the temperature, the higher the peak power will be.

When powering on the Livox Mid-40 in an environment temperature of 4° F (-20° C), within the rst

20 seconds the peak power can reach 40 W. When powering on the Livox Mid-100 in the same

environment temperature, it may take 40 seconds to power on the three Livox Mid-40 LiDAR sensors,

and the peak power can reach 67 W.

Make sure the power supply is suitable based on the peak power of the Livox Mid series LiDAR

sensor. Refer to the gures below to see the relationship between the peak power and the environment

temperature of the Livox Mid series. The value is for reference only. In normal conditions, the peak

power is lower than in the gures below.

Peak Power for Livox Mid-40 When Powering On

45 40 35 30 25 20 15 10

5 0

-20 -10 40 50 603020100

Temperature (℃)

Figure 4.1.1 Relationship between the peak power and the temperature for the Livox Mid-40

Livox Mid Series User Manual

Peak Power for Livox Mid-100 When Powering On

Power (W)

-20 -10 40 50 603020100

Temperature (℃)

Figure 4.1.2 Relationship between the peak power and the temperature for the Livox Mid-100

The working temperature range for the Livox Mid series is from -4° to 149° F (-20° to 65° C). DO NOT

use this product outside of that range.

Connection

The Livox Mid series uses a compact and reliable electrical connector for power supply as well as

control signal and data transmission. Refer to the Cables section for more information about the

connector. The Livox Converter integrates a LiDAR port, a sync port, a power port, and an Ethernet

port. To ensure optimal performance, it is recommended to always use a Livox Converter.

The Livox Mid series uses an Ethernet cable for data transmission and supports user datagram

protocol (UDP). Both static and dynamic IP address congurations are supported and the addresses

are assigned by default to the Livox Mid series LiDAR sensor using dynamic host conguration protocol

(DHCP). The static and dynamic IP addresses are connected in dierent ways. The dynamic IP address

is connected by default using a router with DHCP. To connect to the static IP address, make sure the

Livox Mid series LiDAR is switched to static IP mode by using Livox Viewer or the SDK. The connections

are the same for the Livox Mid-40 and Livox Mid-100.

The Livox Mid-40 is used in the example below.

Dynamic IP address:

Livox Converter

External Power

Source

Ethernet Cable

Router with DHCP

Figure 4.2.1 Connecting using dynamic IP address

Livox Mid-40

Livox Mid Series User Manual

1. Connect the Livox Mid-40 to the Livox Converter.

2. Connect the computer and the Livox Converter to the router using Ethernet cables. Make sure both

the Livox Converter and the computer are connected to the LAN port on the router.

3. Connect the Livox Converter to an external power source.

4. Connect one end of the sync cable to the sync port and the other end to the designated sync signal.

Note that the sync cable may not always be required.

When connecting multiple Livox Mid-40 LiDAR sensors, connect them to one router, and then connect

the router to a computer.

Static IP address:

1. Connect the Livox Mid-40, Livox Converter, router, external power source, and computer by following Figure 4.2.1.

2. Run Livox Viewer, click , and set the IP address of the Livox Mid-40 to static IP address. Note that the static IP address of a Livox Mid-40 should be 192.168.1.X. The X is related to the broadcast number of the LiDAR sensor. If the broadcast number ends with 1, X can be set to any number between 11 to 80. If the broadcast number ends with 2, X can be set to any number between 81 to

150. If the broadcast number ends with 3, X can be set to any number between 151 to 220.

3. Disconnect the Livox Mid-40, Livox Converter, router, external power source, and computer.

4. Set the IP address of your computer to static IP address. Note that the static IP address of your computer should be 192.168.1.X. X can be set to any number between 2 to 233 and should be dierent from the IP address of the Livox Mid series LiDAR sensor set in Step 2.

External power

source

Ethernet Cable

Figure 4.2.2 Connecting using static IP address

5. Connect the Livox Mid-40 to the Livox Converter.

6. Connect the Livox Converter to your computer using an Ethernet cable.

7. Connect the Livox Converter to an external power source.

• Make sure to set the IP address of the Livox Mid series LiDAR sensor back to dynamic IP address if it has been set to static IP address to use a router for connection. Also make sure to set your computer to dynamic

IP address, and follow the instructions in the Dynamic IP address section.

• If multiple Livox Mid-40 LiDAR sensors are set to static IP addresses, make sure all the Livox Mid-40 LiDAR sensors have dierent IP addresses and use a switchboard to connect them to the computer.

• A Livox Mid-100 is equal to three Livox Mid-40 LiDAR sensors. Therefore, you should set three dierent static

IP addresses to one Livox Mid-100.

• If more than 6 Livox Mid-40 LiDAR sensors are required, use a kilo mega switchboard or a kilo mega router.

• The broadcast number for each LiDAR sensor can be viewed in the Device Manager of Livox Viewer or the SDK. For the Livox Mid-40, the broadcast number will be its serial number ending in an additional “1”. For the Livox Mid-100, the broadcast numbers of the three Livox Mid-40 LiDAR sensors will be the serial number

ending in an additional “1”, “2”, or “3”.

Livox Mid Series User Manual

Usage

Coordinates

Users can view the real-time point cloud data by using Livox Viewer and develop customizable

applications using the Software Development Kit (SDK). Before learning about how to use Livox Viewer

and the SDK, see the Cartesian and Spherical coordinates of the Livox Mid-40 and Livox Mid-100

below.

P(r,θ,φ)

98.4°

38.4°

49.2°

19.2°

Figure 5.1.1 Coordinates of the Livox Mid-100

38.4°

19.2°

39.7mm

45.7mm

Figure 5.1.2 Coordinates of the Livox Mid-40

Output Data

The output information of Livox Mid series LiDAR sensors includes point cloud data, timestamp, and

status codes.

Point Cloud Data

A point cloud is the collection of the points where the surface of an object was detected in the FOV of

the LiDAR sensor. Each point contains the following information.

• Target reectivity: 0 to 255. 0 to 150 corresponds to the reectivity within the range of 0 to 100%

in the Lambertian reection model. 151 to 255 corresponds to the reectivity of target objects with

retroection properties.

• Coordinates: Can be expressed as Cartesian coordinates (x, y, z) and Spherical coordinates (r, θ, φ).

The relationship between Cartesian and Spherical coordinates is shown in the gure below.

Livox Mid Series User Manual

P(r,θ,φ)

x = r×sin(θ)×cos(φ)

y = r×sin(θ)×sin(φ) z = r×cos(θ)

Figure 5.2.1.1 Relationship between Cartesian coordinates and Spherical coordinates

P(r,θ,φ)

x = r×sin(θ)×cos(φ)

y = r×sin(θ)×sin(φ) z = r×cos(θ)

Timestamp

There are two ways to synchronize data with the Livox Mid series: IEEE 1588-2008 and Pulse Per

Second (PPS).

IEEE 1588-2008: IEEE 1588-2008 is the Precision Time Protocol (PTP) enabling precise

synchronization of clocks in measurement and control systems by Ethernet. Livox LiDAR sensors,

as the ordinary clock in the PTP, only supports UDP/IPV4 for PTP. Livox LiDAR sensors support

the following message events: Sync, Fllow_up, Delay_req, Delay_resp.

PPS: PPS uses the sync cable for data synchronization. Refer to the Cables section for more

information. The synchronization logic is shown in the figure below. The pulse interval in PPS is 1

s (t0 = 1 s) while the continuous time of high-level voltage is from 1 ms to 300 ms (1 ms <t1< 300

ms). The timestamp of the point cloud data indicates the time duration between the start of point

cloud sampling and when the PPS line starts to increase, the unit for the timestamp is ns.

Pulse Per Second

(PPS)

t0=1s

1ms<t1<300ms

Figure 5.2.2.1 Pulse Per Second

Status Codes

The status codes display the current working status of the Livox Mid series LiDAR sensors. By checking

the status codes, users can see the temperature status, voltage status, motor status, dust warning,

service life warning, and PPS signal status. Status codes can be viewed in Livox Viewer or in the SDK.

Refer to the Livox Viewer section for more information about how to check status codes.

Livox Mid Series User Manual

Status Description

Temperature status Indicates if there is any temperature abnormality. Temperature status includes:

normal, warning, and error.

Voltage status Indicates if there is any internal voltage abnormality. Voltage status includes:

normal, warning, and error.

Motor status Indicates if there is any internal motor abnormality. Motor status includes:

normal, warning, and error.

Dust warning Indicates if a signicant amount of dust is detected on the optical window, if

the optical window is covered by objects, or if there is an object less than 0.3

meters away from the LiDAR sensor.

Service life warning Indicates if the LiDAR sensor is nearing the end of its service life.

PPS signal status Indicates whether the PPS sync signal is working normally.

Working States & Working Modes

The working states of the Livox Mid series includes initializing, normal, standby, power saving, and error.

Working states Description

Initializing The LiDAR sensor is powering on.

Normal The LiDAR sensor is powered on and working normally.

Standby The LiDAR sensor is powered on, but the laser beams are not active.

Power saving All components are powered o apart from the communication module.

Error The LiDAR sensor will enter error status when an error is detected and all the

components are powered o apart from the communication module.

Error

Normal

Initializing

Power saving

Figure 5.2.1 Relationship between the dierent working states

Standby

Livox Mid Series User Manual

The Livox Mid series also has three working modes: Normal, Standby, and Power Saving. These modes

can be set in Livox Viewer and SDK.

Normal

Power saving

Figure 5.2.2 Relationship between the dierent working modes available in Livox Viewer

Standby

Rain/Fog Suppression

When the Livox Mid series is used in adverse weather conditions, it may detect atmospheric particles

such as rain, fog, or dust. Rain/Fog Suppression decreases the false detection rate of atmospheric

particles in adverse weather conditions.

amp

atmospheric

particles

a.without rain/fog suppression

Figure 5.4.1 Comparison of false detection with and without using Rain/Fog Suppression

time

atmospheric

amp

particles

b.using rain/ fog suppression

time

Note that Rain/Fog Suppression only limits the false detection rate of rain, fog, and dust. Additionally,

Rain/Fog Suppression may also decrease the Livox Mid series ability to detect some surfaces with low

reectivity, such as glass or power cables. Only enable Rain/Fog Suppression when absolutely required.

Rain/Fog Suppression can be enabled in the SDK. Refer to the Livox SDK Communication Protocol for

more information.

Livox Viewer

Livox Viewer is a Windows software designed for Livox LiDAR sensors and Livox Hub. Users can check

real-time point clouds of all the Livox LiDAR sensors connected to a computer. With the help of Livox

Viewer, it is easier to check and record the point clouds data for future use.

Visit www.livoxtech.com to download the latest Livox Viewer. Livox Viewer supports WINDOWS®

7/8/10 (64 bit).

Livox Mid Series User Manual

• Turn o Windows Firewall and set your computer to obtain IP address automatically before using Livox

Viewer.

• Make sure the graphic driver is correctly installed. Otherwise, Livox Viewer may not launch or may crash.

After turning o Windows Firewall and setting the IP address, unzip and run Livox Viewer.

Livox Viewer Homepage

5.1.1 Livox Viewer Homepage

File: Click “open le” to open a saved point cloud data le in .lvx format or click “Open Device Manager”

to open the Device Manager.

Tools: Click “Grid Property” to set the grid’s type, color, and coordinates. Click “Firmware Update” to

check the rmware version of detected Livox LiDAR sensors and Livox Hub units, and also to update

the rmware. Click “Extrinsic Parameter Tool” to import extrinsics. Click “Options” to set the le path to

record point cloud data.

Net Adapter: Select the internet connection. Note that only a local area connection can be selected

Help: Click for more information about Livox Viewer.

: Click to open a saved point cloud data le in .lvx format.

: Click to open the Device Manager to search for all the Livox LiDAR sensors and Livox Hubs in the

LAN.

: Click to open the Lvx Manager when displaying the saved point cloud data.

: Click this to open the spreadsheet to pick a certain area of the point cloud, and check the detailed

information of this selected area of the point cloud.

: Click to display or hide the grid. Livox Viewer displays a virtual grid composed of 13 concentric circles.

The rst 10 concentric circles, which are equally distanced, show the distance from 10 m to 100 m. The

11th, 12th, and 13th circles show the distance of 150 m, 200 m, and 300 m.

: Click to automatically adjust the position of the point cloud on the grid so that the point cloud can

be viewed clearly

: Click to choose the angle view. Choose from right view, front, view, top view, and back

view. The angle view can be manually adjusted using the mouse and keyboard.

a. Zoom in or out using the mouse wheel.

Livox Mid Series User Manual

b. Hold the left mouse button and move the mouse to adjust the angle view.

c. Press “Ctrl” on the keyboard, hold the left mouse button, and move the mouse to rotate the point cloud.

d. Press “Shift” on the keyboard, hold the left mouse button, and move the mouse to move the grid.

reectivity

Color:

: Click to select the way to color the point cloud. Users can select solid color or set based

on reectivity, or LiDAR ID. Note that by default the point cloud will be colored based on reectivity.

1px

Point Size

: Click to set the point size. Choose from 1 px, 2 px, 3 px, 4 px, and 5 px.

Cartesian

Coordinate

: Click to set the original point cloud data format to Cartesian or Spherical coordinates.

Viewer controls:

: Click to rewind to the beginning (not available when checking real-time point clouds).

: Click to fast-forward to the end (not available when checking real-time point clouds).

: Click to rewind one frame (not available when checking real-time point clouds).

: Click to fast-forward one frame (not available when checking real-time point clouds).

: Click to play/pause.

: When one or more Livox LiDAR sensors are connected, click to start recording the live data.

Click again to stop recording.

100ms

Frame Time

: Click to set the frame time. Choose from 50, 100, 200, 500, 1000, and 3000 ms. The

longer the frame time is, the denser the point cloud will be. The recommended frame time is 1000 ms.

Drag to adjust the time of the saved point cloud data le (not available when checking

real-time point clouds).

Device Manager

5.1.2 Livox Viewer Device Manager

: Connect all devices.

: Disconnect all devices.

: Click to import extrinsics.

: Click to check device properties. Check information such as the device type, work mode, and

firmware version. Users can also set the working mode and choose between static or dynamic IP

addresses for individual Livox LiDAR sensors.

Livox Mid Series User Manual

Lidar Hub

: Select the type of device you would like to check.

1LVDFBC00401731 Mid-40

1LVDFBC00401732 Mid-40

1LVDFBC00401733 Mid-40

: Displays all the devices in the LAN.

: Check the working states. When in error state, users can check the status codes.

: Display or hide the point cloud of the selected Livox LiDAR sensor.

Checking Real-time Point Cloud Data

1. Connect the Livox LiDAR sensor, and run Livox Viewer. Click to open Device Manager. The Device Manager will display all the devices in the LAN.

2. Select LiDAR in Device Manager.

3. Select a Livox LiDAR sensor to check, and click to connect. Alternatively, select the Livox LiDAR sensor, right click, and click “Connect Device”. Click to connect all Livox LiDAR sensors.

4. After connecting, click to view the point cloud data.

Recording Point Cloud Data

When one or more Livox LiDAR sensors are connected, click to start recording the live data. Click

again to stop recording.

Displaying Saved Point Cloud Data

Click or click File > “open le” to open the saved point cloud data. Use the viewer controls to adjust the video. While displaying saved point cloud data, you can click on the homepage. The Lvx Manager

window will appear. You can click to hide or display the selected Livox LiDAR sensor.

Importing Extrinsics

The Livox Mid-100 is a three-in-one version of the Livox Mid-40. Before delivery, the Livox Mid-100 has

already been calibrated. However, if more than one Livox Mid-100 or Livox Mid-40 are being used, the

Livox LiDAR sensors must be recalibrated by importing the extrinsics. Follow the steps below to import

the extrinsics.

Click Tools > Extrinsic Parameter Tool to enter the Extrinsic Parameter Tool page.

Make sure the format of the code in the extrinsics import page matches the example below:

Livox Mid Series User Manual

In the example above, “1LVDFBC00401731” represents the broadcast code of the Livox LiDAR sensor. Click “Start Cali” to check the coordinates of all the Livox LiDAR sensors connected. Users can

manually enter each coordinate.

Alternatively, select a coordinate and use the wheels at the bottom of the screen to adjust the

coordinates. Press “Ctrl” when using the wheels to select multiple coordinates in the same column to adjust them simultaneously. Click “Load From File” to import extrinsics.

Click “Read From Device” to check the current coordinates of all Livox LiDAR sensors. All Livox LiDAR sensors can store extrinsics. Storing extrinsics will not aect the real-time point cloud data. Refer to the Software Development Kit (SDK) section for more information. Click “Save Param As” to save the coordinates of all detected Livox LiDAR sensors. Click “Apply” to conrm the new coordinates. A pop-up window will appear. Choose to write the current extrinsics to the Livox LiDAR sensor or to only preview the coordinates on Livox Viewer.

• The new coordinates will only be eective after you click Apply.

• For more details regarding the extrinsic parameters, please refer to the SDK Communication Protocol.

Switching the Angle View

Click the following buttons to change the angle view of the point clouds:

Right View Front View Top View Back View

Alternatively, the angle view can also be adjusted using a mouse and keyboard.

a. Zoom in or out using the mouse wheel.

b. Hold the left mouse button and move the mouse to adjust the angle view.

c. Press “Ctrl” on the keyboard, hold the left mouse button, and move the mouse to rotate the point

cloud.

d. Press “Shift” on the keyboard, hold the left mouse button, and move the mouse to move the grid.

Firmware Update

The rmware of Livox LiDAR sensors and Livox Hub can be updated by using Livox Viewer. To update

the rmware, follow the steps below:

1. Click Toos > Firmware Update. A page will appear displaying all detected devices.

2. Select “Lidar Update” under Update Mode to display all detected Livox LiDAR sensors.

3. Click “Check Firmware” to check the current rmware version of selected Livox LiDAR sensors.

4. Select the firmware version under “Firmware Version”, and click “Download” to download the

rmware to the computer.

5. After downloading the file, select the Livox LiDAR sensor you wish to update under “Firmware Update” and click “…” to select the downloaded rmware.

6. Click “Start” to update the rmware of the selected Livox LiDAR sensor.

7. The Livox LiDAR sensor will restart and reconnect to the computer after the update. Repeat the

steps above if the update fails.

Livox Mid Series User Manual

Make sure the computer is connected to the internet when downloading the rmware. After the rmware

is downloaded, internet connection is not required.

Software Development Kit (SDK)

Besides using Livox Viewer to check real-time point cloud data, users can also use the SDK to apply

the point cloud data acquired from Livox LiDAR sensors to dierent scenarios.

SDK Communication Protocol

There are two types of communication protocols between the user and a Livox LiDAR sensor, and the

protocol formats of these two kinds of data are dierent. The specic functions and dierences of these

types of communications are as follows:

Control Command Data: Conguration and query of LiDAR parameters and status information.

Point Cloud Data: Point cloud coordinate data generated by LiDAR.

Both communication protocols are located in the data segment of the UDP package and stored in little-

endian format.

To download the Livox SDK Communication Protocol and Livox SDK API Reference, please visit

https://www.livoxtech.com/sdk

Storage, Transportation, and Maintenance

Storage

The storage temperature range for the Livox Mid series is from -40° to 185° F (40° to 85° C). Keep Livox

Mid series LiDAR sensors in a dry and dust-free environment.

Make sure Livox Mid series LiDAR sensors are not exposed to environments containing poisonous or

corrosive gases or materials.

DO NOT drop Livox Mid Series LiDAR sensors and always be careful when placing a LiDAR sensor in

storage or taking it out of storage.

If a Livox Mid series LiDAR sensor is not to be used for more than three months, regularly check the

sensors and connectors for abnormalities.

Transportation

Before transportation, place Livox Mid series LiDAR sensors in a suitable box for transportation and

make sure it is secure.

Make sure to place foam inside the transportation box and that the box is clean and dry.

DO NOT drop Livox Mid series LiDAR sensors and always be careful when carrying a LiDAR sensor.

Maintenance

In normal conditions, the only maintenance required for the Livox Mid series is to clean the LiDAR

sensor’s optical window. Dust and stains on the optical window can negatively aect the performance of

the LiDAR sensor. Make sure to regularly clean the optical window to prevent this from happening.

First, check the surface of the optical window to see if cleaning is necessary. If it is necessary to clean,

follow the steps below:

Livox Mid Series User Manual

1. Use compressed or canned air: DO NOT wipe a dusty optical window, as it will only cause more

damage. Dust the optical window with compressed or canned air before wiping the optical window. If the optical window has no visible stains afterward, it is not necessary to wipe it also.

2. Wipe the stains: DO NOT wipe using a dry lens tissue, as it will scratch the surface of the optical

window. Use the lens tissue provided with isopropyl alcohol. Wipe slowly to remove the dirt instead of redistributing it on the surface of the optical window.

If the optical window is still dirty, a mild soap solution can be used to gently wash the window. Repeat

Step 2 to remove any remaining soap residue.

Troubleshooting

The table below shows you how to troubleshoot and resolve common issues with Livox Mid series

LiDAR sensors. If the issue persists, please contact Livox.

Issue Resolution

Cannot detect the LiDAR

sensor

Cannot connect to the

detected LiDAR sensor/

Cannot start sampling

No data received Make sure the packet output of all connected devices using another

Make sure that all cables are correctly wired.

Make sure the voltage and power supply is suitable. The voltage should be between 10 and 16 V and the power supply should be above 60 W.

Make sure that the LiDAR sensor is not connected to other software.

Make sure LAN is selected.

Make sure no security software installed that would block Ethernet broadcasts.

If the issues persists, try to turn o all rewalls and search again.

Make sure the packet output of all connected devices using another

application (e.g., Wireshark).

Make sure that the power and Ethernet cables are correctly connected.

Make sure the voltage and power supply is suitable. The voltage should be between 10 and 16 V and the power supply should be above 60 W.

If the issue persists, reboot the LiDAR sensor and restart the software.

application (e.g., Wireshark).

After-sales information

Visit www.livoxtech.com/support to check the after-sales policy and warranty conditions for Livox LiDAR

sensors.

Appendix

4-M3 6

3×4 1.2

1.23

Appendix 1

Livox Mid-40 Dimensions (unit: mm)

Livox Mid Series User Manual

3×4 1.2

4-M3 6

15.60

45.70

1.23

20.30

40.50

Livox Mid Series User Manual

0 4

57 70

128

132

4×5

214 230

12.5

R7.63

1/4-20 UNC

3-M3 6

30°

Appendix 2

Livox Mid-40 Mounting Bracket Dimensions (unit: mm)

3-M3 6

Appendix 3

Livox Mid-100 Dimensions (unit: mm)

39.70

1/4-20

UNC

57 70

128

0 4

12.5

38 38

1/4-20 UNC

4×5

214 230

37.50

R7.63

132

60°

6×M3

142

Livox Mid Series User Manual

24.9

4×M2 5

Appendix 4

Livox Converter Dimensions (unit: mm)

4×M2 5

24.9

Specifications

Livox Mid-40/ Livox Mid-100

Operation Temperate Range -4° to 149° F (-20° to 65° C)

Laser Wavelength 905 nm

Laser Safety Class 1 (IEC 60825-1:2014)

Detection Range (@100 klx) 90 m @ 10% reectivity; 130 m @ 20% reectivity; 260 m @ 80% reectivity

FOV

Range Precision (1σ @ 20 m) 2 cm

Angular Accuracy < 0.1°

Beam Divergence 0.28° (Vertical) × 0.03° (Horizontal)

Point Rate Livox Mid-40: 100,000 points/s; Livox Mid-100: 300,000 points/s

False Alarm Ratio (@100 klx) < 0.01%

IP Rating IP67

Power

Power Supply Voltage Range 10 ~ 16 V (DC Power supply only)

Dimensions

Weight

Livox Mid-40 Mounting Bracket

Dimensions 88×69×18 mm

Weight 101 g

Livox Converter

Dimensions 52×58×25 mm

Weight 66 g

Livox Mid-40: 38.4° (circular) Livox Mid-100: 98.4° (Horizontal) × 38.4° (Vertical)

Livox Mid-40: 10 W (Average) 40 W (Peak) Livox Mid-100: 30 W (Average) 67 W(Peak)

Livox Mid-40: 88×69×76 mm Livox Mid-100: 142×70×230 mm

Livox Mid-40: 710 g Livox Mid-100: 2200 g

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.

Livox Mid, Mid-40, Mid-100 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Using this Manual

Legend

Downloading Documents

Downloading Livox Viewer

Introduction

Product Characteristics

Overview

Connectors

LiDAR Connector

Power Cable and Sync Cable

Ethernet Port

Mounting the Livox Mid Series

Effective Field of View (FOV) Range

Dimensions

Getting Started

External Power Supply

Connection

Usage

Coordinates

Output Data

Working States & Working Modes

Rain/Fog Suppression

Livox Viewer

Software Development Kit (SDK)

Storage, Transportation, and Maintenance

Storage

Transportation

Maintenance

Troubleshooting

After-sales information

Appendix

Appendix 1

Appendix 2

Appendix 3

Appendix 4

Specifications