Livox Horizon Manuale utente

Livox Horizon

v1.0

2019.10

User Manual

Using this Manual

Legend

Warning Important Hints and Tips Explanation

Downloading Documents

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

the Livox Horizon.

www.livoxtech.com/horizon

Downloading Livox Viewer

Visit the link below to download Livox Viewer.

www.livoxtech.com/horizon

Downloading Livox SDK

Visit the link below to download the Livox SDK:

https://github.com/Livox-SDK

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Contents

Using this Manual 2

Legend 2

Downloading Documents 2

Downloading Livox Viewer 2

Downloading Livox SDK 2

Product Prole 4

Introduction 4

Product Characteristics 4

Overview 7

Connectors 8

LiDAR Connector 8

Power Cable and Sync Cable 9

Ethernet Port 10

Mounting the Livox Horizon 10

Effective Field of View (FOV) Range 10

Mounting Notice 11

Dimensions 12

Removing the Self-Dissipation Module 12

Getting Started 14

External Power Supply 14

Connection 15

Usage 17

Coordinates 17

Output Data 17

Working States & Working Modes 20

Dual Return Mode 21

IMU 21

Livox Viewer 21

Software Development Kit (SDK) 26

Storage, Transportation, and Maintenance 26

Storage 26

Transportation 27

Maintenance 27

Troubleshooting 27

After-Sales Information 28

Appendix 28

Appendix 1 28

Appendix 2 29

Appendix 3 29

Specications 30

Product Prole

Introduction

Livox Horizon (hereinafter referred as “Horizon”) features a long detection distance, high precision, wide

eld-of-view (FOV), and high reliability, and can be used for multiple applications including autonomous

driving, robotics, automated guided vehicles, and unmanned aircrafts, and more.

High FOV Coverage: The Horizon utilizes Livox’s unique non-repetitive scanning technology and

multi-laser and multi-APD DL-Pack technology. This ensures a high-density point cloud which is

approximately three times more dense than the Livox Mid-40 within the same period.

Wide FOV: Compared with the circular FOV of Livox Mid-40, Horizon has a more rectangular and larger

FOV of 81.7° horizontally and 25.1° vertically. The Horizon scans horizontally from nearly top to bottom,

increasing its compatibility with algorithms used to process common point cloud data.

Single Return and Dual Return Modes Supported: Horizon can be set to Dual Return mode. In Dual

Return mode, Horizon has a point rate of 480,000 points per second, which is twice the amount than in

Single Return mode.

High Reliability: The Horizon offers enhanced reliability as the cutting-edge design works normally

without rotating internal electronic devices such as the transmitter and receiver. The Horizon has

undergone rigorous reliability testing required by the automotive industry. In addition, the Horizon has

achieved an IP67 waterproof and dustproof rating under GB 4208-2008 and IEC 60529 standards.

Note the included cables do not meet the same standards.

Environmental Adaptation: Even under 100 kilolux conditions, the Horizon boast a low noise rate

below 0.01%. Thanks to innovative de-noising algorithms built into the unit, the Horizon is able to

effectively reduce the interference of stray lights from other LiDAR sensor. Additionally, with the tag

information embedded in the point cloud data of the Horizon, users can quickly identify if a point cloud

is a erroneously detected noise.

Built-in IMU Module: The model of the build-in inertial measurement unit (IMU) is BMI088. The IMU

module can be enabled or disabled using Livox Viewer or an SDK. The push frequency of the IMU

module is 200 Hz.

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

sensors. It displays and records real-time point cloud data, replays point cloud videos, and analyzes the

3D point cloud data. Users can set product parameters and calibrate extrinsics using Livox Viewer. The

simple interface makes Livox Viewer easy to use.

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

using the data acquired from point clouds. Livox SDK supports Windows/Linux/Mac OS/ROS.

• Horizon has a detection range of up to 260 m, which 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%). (260 m range

measured in an environment with a temperature of 25° C (77° F))

• Before using for the first time remove the screen protector from the optical window.

Product Characteristics

The Horizon utilizes Livox’s unique non-repetitive scanning technology and multi-laser and multi-APD

DL-Pack technology. This ensures a high-density point cloud which is approximately three times denser

than the Livox Mid series within the same period. Over time, the coverage inside the FOV increases

Livox Horizon User Manual

Figure 1.2.2 displays the typical point cloud patterns of the Horizon.

Figure 1.2.1 Point Cloud Allocation of the Horizon within 0.1s (coordinates units: °)

0.1s 0.2s 0.5s

Figure 1.2.2 Point cloud patterns of the Horizon accumulated

over an extended period

Figure 1.2.3 displays the FOV coverage of the Horizon 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 Horizon approaches 60%, similar to the 64-line LiDAR

sensor. As the integration time increases to 0.5 seconds, the FOV coverage approaches 100%, so

almost all areas are illuminated by laser beams.

signicantly and reveals more detailed information of the surroundings.

Figure 1.2.1 displays the point cloud allocation of the Horizon inside the FOV within 0.1s. In the center

of the FOV, the scanning density is denser with the average spacing of lines being 0.2° (most line

spacing is from 0.1° to 0.3°), which is much denser than traditional 64-line LiDAR sensors, in which the

spacing of lines is 0.3° to 0.6°. The two circular areas on both sides have a lower scanning density, with

an average line spacing of 0.4° (most line spacing is between 0.2° to 0.8°), rivaling traditional 64-lines

LiDAR sensors within 0.1s.

Livox Horizon User Manual

Laser Wavelength 905 nm

Laser Safety Class 1 (IEC 60825-1:2014) (Safe for eyes)

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

260 m @ 80% reectivity

FOV 81.7° (Horizontal) × 25.1° (Vertical)

Distance Random Error (1σ @ 20 m) < 2 cm

Angular Random Error 1σ < 0.05 º

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

Point Rate 240,000 points/s (rst or strongest return)

480,000 points/s (dual return)

False Alarm Ratio (@100 klx) < 0.01%

• Livox Horizon cannot precisely detect objects which are less than 0.5 m away. In this situation,

the serial number of the Livox Horizon displayed on Livox Viewer will change color to warn

users. If in use at the time, the SDK can be checked for more information about the warning.

The point cloud may distort to a varying extent when the target object is within the range of 0.5

to 3 m. Contact Livox for support if you r equire precise objects detection within this range.

• Tested in an environment at a temperature of 25° C (77° F) with a target object that has a

reflectivity of 80%. The actual environment may differ from the testing environment. The figure

listed is for reference only.

• The performance of Livox Horizon may decrease in extreme environments, such as those where

the temperature is -40° C (-40° F) or 85° C (176° F) or those that cause high vibration.

Table 1.2.1 Point cloud speciﬁcations

Figure 1.2.3 The FOV coverage of the Horizon 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°, and the 64-line non-Livox LiDAR sensor is 27°.

64 Lines

32 Lines

16 Lines

Livox Horizon

FOV Coverage (%)

Integration time(s)

0 0.2 0.4 0.6 0.8

100

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:

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

C= Total area in FOV

Total area illuminated by laser beams

×100%

Livox Horizon User Manual

Overview

Livox Horizon

1. Optical Window

The laser passes through the optical window

and scans objects in the FOV.

2. Self-Dissipation Module

The self-dissipation module is removable. If

it is removed, an external thermal dissipation

system is required to ensure that the

temperature of the LiDAR's shell does not

exceed 85° C (185° F). Otherwise, the Horizon

may enter the over temperature error status

and stop working. The self-dissipation module

is not designed to be mounted and detached

several times. Only remove the self-dissipation

module when necessary.

3. Self-Dissipation Module Screws

Seven black M2 screws are used to secure the

self-dissipation module. If the self-dissipation

module is detached, make sure to store the

screws properly for future use.

4. 1/4 Inch Mounting Hole

Can be mounted on a tripod or other bases

outtted with a 1/4 inch screw.

5. LiDAR Connector

The LiDAR connector is used to connect

the Livox Converter 2.0. It also can be

modified by users. Refer to the Cables

section for information on signal definition.

The operating voltage range is 10 V to 15 V,

with a recommended voltage of 12 V. The

minimum working voltage should be increased

in a low temperature environment. When the

Horizon is connected to the external power

source directly, make sure the output voltage

range of the external power source is within

the working voltage range of the Horizon.

When an extension cable is required, make

sure to increase the output voltage of the

external power source due to the extra voltage

reduction. Make sure the maximum voltage

does not exceed 15 V. Note that the power

cable may generate voltage fluctuation where

the voltage exceeds 15 V in some scenarios

such as if the power cable is interfered with

or other devices connected to another power

source in the parallel circuit suddenly power o.

In such scenarios, the Horizon may not work

normally or may become damaged.

6. Air Inlet/Fan

The fan enables airflow to cool the LiDAR.

Make sure there are at least 10 millimeters

between the air inlet and the nearest objects.

7. M3 Mounting Holes

Make sure to use the correct screws when

mounting.

8. Air Outlet

The air outlet allows warm air to exit the self-

dissipation module. Make sure there are at

least 10 millimeters between the air outlet and

the nearest objects.

Livox Horizon User Manual

Livox Converter 2.0

1. LiDAR Connector Port

A JAE MX34012NF1 type connector port used

to connect to the Horizon. The mating connector

is JAE MX34012SF1 LiDAR.

2. Power Port

Connects to an external power supply. When

the Horizon is connected to Livox Convertor

2.0, users can use a power supply of 9 to 30 V.

The connector type is MOLEX 1053313-1102.

The mating connector is MOLEX 105307-1202.

3. Ethernet Port

An RJ45 type Ethernet connector is used to

connect to Ethernet cables.

4. Sync Port

The 3-pin sync port supports 3.3V LVTTL sync

signal input. Refer to Table 2.2.2 for more

information. The mating connector of the sync

port connector is Famfull 9.510A0-003-1R0,

and JST GHR-03V-S is also compatible.

2 3 4

Connectors

LiDAR Connector

Below is more information on the LiDAR connector:

Figure 2.1.1 LiDAR Cable Connector

Pin Signal Type Description Color

1Power+ Power DC 10-15 V (max 15 V) Blue/white

2Ground Power Ground Silver bare wire

3Ethernet_TX+ Output 100BASE-TX, TX+ Orange/white

4Ethernet_TX- Output 100BASE-TX, TX- Orange

Table 2.1.1 LiDAR Cable Connector Description

1211109

21 5

5/11

Livox Horizon User Manual

Sync signal description

Figure 2.1.2 Sync signal description

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

5Ground Power Ground Silver braided wire

6Sync+ Input RS485_A, Pulse Per Second Grey/white

7Power+ Power DC 10-15 V (max 15 V) Blue

8Ground Power Ground Silver bare wire

9 Ethernet_RX+ Input 100BASE-TX, RX+ Green/white

10 Ethernet_RX- Input 100BASE-TX, RX- Green

11 Ground Power Ground Silver braided wire

12 Sync- Input RS485_B, Pulse Per Second Grey

Pulse Per Second

(PPS)

t0=1s

1ms<t1<300ms

秒脉冲

(PPS)

t0=1s

1ms<t1<300ms

Power Cable and Sync Cable

The Horizon cables package includes a power cable and sync cable.

Power Cable

Connect “A” to the power port of the Livox Converter 2.0 and connect “B” to an external DC power

supply. The connector type of this power cable is MOLEX 105307-1202.

Figure 2.2.1 Power cable

A B

500±25 mm

Pin Signal Type Description Color

1Power+ Power DC 9 - 30 V (max 30 V) Red

2Ground Power Ground Black

Table 2.2.1 Power cable description

Livox Horizon User Manual

Pin Signal Type Description Color

1Ground Power Ground Black

2 Sync+ Input 3.3 V LVTTL, Pulse Per Second Blue

3Reserved Reserved Undened White

Table 2.2.2 Sync cable description

Sync cable

Connect “A” into the sync port of the Livox Converter 2.0 and connect “B” to the sync signal. The sync

cable has a 3-pin connector. The connector type is Famfull 9.510A0-003-1R0, which is compatible

with JST GHR-03V-S type connectors. Refer to the Data Synchronization section for more information.

Figure 2.2.2 Sync cable

Ethernet Port

The Livox Converter 2.0 supports 100BASE-TX standard RJ45 Ethernet port. The Horizon uses two

twisted pairs to send and receive data.

1AB

500±25 mm

Mounting the Livox Horizon

Effective Field of View (FOV) Range

As shown below, the Horizon has a FOV of 81.7° horizontally and 25.1° vertically. When mounting

a Livox Mid Series LiDAR sensor, make sure that the FOV is not blocked by any objects. Visit www.

livoxtech.com/horizon to download the 3D models of the Horizon and its FOV.

Figure 3.1.1 Effective FOV of the Horizon

Horizontal FOVVertical FOV

50.1mm

25.1°

81.7

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