1. Introduction
The SIMINICS PAVO2 is a new generation, high-performance Time-of-Flight (TOF) LiDAR product, integrating advanced innovative technologies. It offers long-distance measurement, high-speed scanning, and high point cloud data rates, making it an excellent choice for applications such as autonomous navigation, security, and intelligent transportation.
Key features of the PAVO2 include:
- High Scanning Frequency: Up to 100 Hz.
- Extended Working Range: Up to 50 meters.
- High Angular Resolution: 0.08° at 50 Hz, enabling identification of tiny targets at long distances.
- Multi-Echo Mode: Capable of identifying targets in challenging outdoor environments like dust, rain, and fog.
- High Laser Sampling Rate: 45 kHz, superior in the industry, contributing to precise reconstruction of surroundings.
- Adjustable Frame Rate: Users can tune the point cloud image frame rate from 10 to 30 Hz by adjusting the motor's rotating rate.
- Robust Design: Semi-solid configuration with IP65 protection level, suitable for severe industrial and complex outdoor applications.
- Eye Safety: Uses a 905 nm laser and meets Class I eye safety level.
The PAVO2 is supported by PAVO2VIEW software and an SDK packet, facilitating new application development for robot positioning, ground mapping, environment modeling, and security protection.
2. Safety Information
Please read the following safety precautions carefully to prevent damage to the product and connected devices, and to ensure personal safety.
General Security Requests
- Power Supply: Only use the power supply cable permitted by your country's regulations.
- Parameter Values: Always check allowed parameter values before connecting the product to any application to avoid damage from current spikes.
- Overvoltage Protection: Ensure no high voltage is applied to the product.
- Grounding: Ground the product using the power supply cable. Ensure the power supply's ground line is reliably connected to ground before connecting any input/output cables.
- Disassembly: Do NOT disassemble the product or operate it without its seal. Disassembly without SIMINICS' permission is prohibited and voids warranty.
- Optical Cover: Do NOT scratch the optical cover with hard objects, as this can cause ranging errors and increased data noise.
- Anti-Static Protection: Static electricity can damage the product. All measurements should be performed with good grounding or anti-static protection.
- Failure: Do NOT operate the product if you suspect it is faulty. Contact SIMINICS for testing, maintenance, adjustment, or part replacement.
- Environment: Do NOT use or place the product in corrosive, flammable, or explosive environments.
- Optical Elements: Keep the optical elements clean to avoid errors and noise caused by dust.
- Heat Dissipation: Install the product on a metal heat sink to ensure good heat dissipation.
- Laser Safety: The product emits infrared laser, which is Class I eye-safe. However, long-term direct viewing of the emission output with naked eyes is prohibited for personal safety.
3. Components and Shipping List
The standard package for the SIMINICS PAVO2 LiDAR sensor includes the following components:
- PAVO2 LiDAR Unit
- Power Adapter
- Ethernet Cable
- Mounting Bracket
- Screws and Wall Plugs
4. Setup and Connection
4.1. Connector and Cables
The PAVO2 LiDAR uses two main types of connector cables:
- Data Cable: An RJ45 Ethernet cable, typically 1-meter long.
- Power Supply Cable: A power cable with a 5.5mm/2.1mm connector, also typically 1-meter long.
RJ45 Data Cable Definition (586B Standard)
| Color | Signal |
|---|---|
| Orange+White | TX+ |
| Orange | TX- |
| Green+White | RX+ |
| Blue | |
| Blue+White | |
| Green | RX- |
| Brown+White | |
| Brown |
Power Supply Cable Definition
| Color | Signal | Typical Value | Range |
|---|---|---|---|
| Red | VCC+ | 12V | 9V~36V |
| Brown | VCC+ | 12V | 9V~36V |
| Black | VCC- | 0V | 0V |
| Grey | VCC- | 0V | 0V |
4.2. IP Address Configuration
The PAVO2 LiDAR is configured with a default IP address. For communication, ensure your host PC is on the same network segment. A typical setup involves assigning the PC an IP address like 10.10.10.100 to communicate with the LiDAR at 10.10.10.121.
4.3. Installation Guidelines
When installing the PAVO2, consider the following to ensure optimal performance and longevity:
- Environmental Factors: Avoid locations prone to physical attacks or vibrations. Protect the device from direct sunlight (including through windows) and other thermal sources to prevent internal overheating.
- Multiple Radar Installation: If installing multiple PAVO2 units, tilt them at an angle to prevent direct laser interference (crosstalk) between devices.
- Vertical Installation: For vertical installations of multiple units, ensure the laser emission outputs are offset by a sufficient distance to avoid direct laser incidence on each other.
Horizontal Installation Examples
Vertical Installation Examples
5. Operation Principles
The PAVO2 is a Time-of-Flight (TOF) laser radar, comprising optical, mechanical, electrical, and software components. Its operation is based on the principle of measuring the time it takes for a laser pulse to travel to an object and return.
When operating, the LiDAR emits a laser pulse train. Upon striking an object, these pulses are reflected back to the sensor. The receiver detects the reflected laser pulses and measures the time difference between the emitted and received pulses using a time analysis module. The flight distance is then calculated by multiplying this time difference by the speed of light, thereby determining the target object's position.
While a single point measurement provides distance information, the PAVO2 utilizes a rotating motor to scan the ranging angle, generating a 2D spatial image of the surrounding environment.
The resulting data forms a point cloud image, providing a detailed representation of the scanned area.
5.1. Scanning Range
The PAVO2 provides point cloud information covering a 280° field of view. A marker on the top of the PAVO2 indicates the 180° direction directly in front of the sensor. The angle increases counter-clockwise from 0°. There is an approximate 80° blind zone between 320° and 40°.
5.2. Optical Properties
- Emitting Output Position: The laser emitting output of the PAVO2 is located 52.6 mm above the bottom of the sensor.
- Laser Emission Angle: The vertical laser emission angle may vary slightly, with a standard deviation of approximately ±1°.
- Beam Spot Profile: The PAVO2 uses an LD (Laser Diode) as its light source. At a distance of 10 meters and a 0° incident angle, the beam spot on the target is approximately 75 mm in transverse and 25 mm in vertical. The beam spot profile changes as the motor rotates due to divergence angle differences between the fast and slow axes of the LD.
6. Software and Data
The PAVO2 LiDAR sensor is designed for ease of use and integration with various applications:
- PAVO2VIEW Software: This dedicated software allows users to control the LiDAR, view, and analyze point cloud data in a visual manner. It provides a convenient interface for real-time monitoring and data interpretation.
- PAVO2SDK Packet: For advanced users and developers, the PAVO2SDK (Software Development Kit) encapsulates and parses radar-related information. This enables rapid secondary development by calling relevant Application Programming Interfaces (APIs).
For detailed instructions on using the software and SDK, please refer to the electronic documents: "PAVO2view users' guide" and "PAVO2SDK programming guide."
A user manual (PDF) is available for download: SIMINICS 2D TOF LiDAR PAVO2 Manual (PDF)
7. Maintenance
Proper maintenance ensures the longevity and optimal performance of your SIMINICS PAVO2 LiDAR sensor.
- Keep Optical Elements Clean: Regularly inspect and clean the optical covers. Dust, dirt, or smudges can significantly affect ranging accuracy and increase noise in the data. Use a soft, lint-free cloth and avoid abrasive materials or harsh chemicals.
- Ensure Good Heat Dissipation: The PAVO2 should be installed on a metal heat sink to facilitate proper heat dissipation. Ensure that the installation area allows for adequate airflow and that no vents are obstructed. Overheating can lead to performance degradation and reduced lifespan.
- General Cleaning: For the exterior housing, use a soft, dry cloth to wipe away any dust or debris. Do not use solvents or strong cleaning agents.
8. Troubleshooting
If you encounter issues with your SIMINICS PAVO2 LiDAR sensor, consider the following basic troubleshooting steps:
- Check Connections: Ensure all cables (power and Ethernet) are securely connected to both the LiDAR unit and the host system/power source.
- Verify Power: Confirm that the power adapter is functioning correctly and providing the specified voltage (9V-36V DC) to the LiDAR. Check the indicator lights on the unit for power status.
- IP Configuration: Double-check that the IP address of your host PC is correctly configured to communicate with the LiDAR (e.g., both on the 10.10.10.x subnet).
- Software Status: Ensure the PAVO2VIEW software or your custom application is running correctly and can detect the LiDAR. Refer to the software's user guide for connection procedures.
- Environmental Factors: Review the installation guidelines in Section 4.3 to ensure the operating environment is free from excessive vibrations, direct sunlight, or extreme temperatures that could affect performance.
Important: If you suspect the product is faulty or experiencing a significant malfunction, do NOT attempt to repair or disassemble it. Any maintenance, adjustment, or part replacement must be performed by SIMINICS authorized personnel. Contact SIMINICS support for assistance.
9. Specifications
The following tables detail the technical specifications and dimensions of the SIMINICS PAVO2 TOF LiDAR sensor.
Essential Information
| Parameter | Description |
|---|---|
| Product Name | Two dimensional TOF navigation Laser radar Pavo |
| Type | SIMO-LS-10H, SIMO-LS-20H, SIMO-LS-30H |
| Model | PAVO2-LS-50H, PAVO2-LS-50HC, PAVO2-LS-50HP |
Measurement Characteristics
| Parameter | Value |
|---|---|
| Detection Range @ 90% reflectivity | 10 m (SIMO-LS-10H), 20 m (SIMO-LS-20H), 30 m (SIMO-LS-30H), 50 m (PAVO2-LS-50H/HC/HP) |
| Detection Range @ 10% reflectivity | 5 m (SIMO-LS-10H), 8 m (SIMO-LS-20H), 10 m (SIMO-LS-30H), 20 m (PAVO2-LS-50H/HC/HP) |
| Statistical Error | ±30 mm (SIMO), ±20 mm (PAVO2) |
| Accuracy (near field, 0.1-15M) | ±10 mm (PAVO2) |
| Aperture Angle | 270° (SIMO), 280° (PAVO2-LS-50H/HP), 360° (PAVO2-LS-50HC) |
| Vertical FOV | ±0.5° (PAVO2) |
| Scanning Frequency | 10-30 Hz (SIMO), 25Hz/50Hz (PAVO2-LS-50H), 100Hz (PAVO2-LS-50HC/HP) |
| Angular Resolution | 0.08° (SIMO), 0.08°/0.16°/0.32° (PAVO2-LS-50H), 0.32° (PAVO2-LS-50HC/HP) |
| Repetition Precision | ±20 mm |
Photoelectric Characteristics
| Parameter | Value |
|---|---|
| Supply Voltage | DC 9V-24V (SIMO), 9V-26V (PAVO2) |
| Working Current | 0.21 A/12 V (typical for SIMO), 0.25 A/12 V (PAVO2) |
| Laser Source | 905 nm Class I |
| Power Consumption | 2 W (SIMO), 3W (max for PAVO2) |
Other Specifications
| Parameter | Value |
|---|---|
| Data Transmission Interface | Ethernet 100BASE-TX |
| Startup Time | < 10 s (SIMO), < 20 s (PAVO2) |
| Indicator Light | Power indicator, Status indicator |
| Ambient Light Intensity | > 50,000 lux (SIMO), > 80,000 lux (PAVO2) |
| Operating Temperature | -10°C ~ 55°C |
| Storage Temperature | -30°C ~ 75°C |
| Humidity | < 80% |
| Working Life | 5 years (Motor life) |
| Vibration Test | 10-55Hz, amplitude 0.75mm, XYZ triaxial, 2 hours per axis; 50-200Hz, 196 M/S² (20G), sweep speed 2 min/cycle, XYZ triaxial, 2 hours per axis. |
| Enclosure Rating | IP67 |
Dimensions and Weight
| Parameter | Value |
|---|---|
| Dimensions (L x W x H) | 50 × 50 × 76 mm (SIMO), 60 × 60 × 80 mm (PAVO2) |
| Weight | 148 g (without connecting cables for SIMO), 250 g (excluding cables for PAVO2) |
10. User Tips
No specific user tips were available from provided reviews or Q&A content.
11. Warranty and Support
Warranty and Claim
The products of SIMINICS are protected by patents authorized by P.R. China. All information in previous versions of this manual is superseded by the current version. SIMINICS reserves the right to interpret any errors in this manual and the information and deductive functions provided. SIMINICS is not liable for any incidental or secondary losses caused by the use of this manual. Copying or rewriting any part of this manual without permission from SIMINICS is illegal.
Contact Information
For support, inquiries, or to report product failures, please contact SIMINICS directly:
- Company: SIMINICS Shanghai Ltd.
- Address: Floor 9 in No. 15 Building of HuaTai Center on Jinyun Road, Jiading District, Shanghai
- Website: www.siminics.com
- Email: info@siminics.com; sales@siminics.com
A comprehensive user manual (PDF) is available for download: SIMINICS 2D TOF LiDAR PAVO2 Manual (PDF)
