Livox Mid Series User manual
Livox Mid Series
v1.0
2019.01
User Manual
2
©2019 Livox Tech. All Rights Reserved.
Using this Manual
Legend
Warning Important Hints and Tips Explanation
Downloading Documents
Visit the link below to download the latest Livox Mid Series User Manual and other documents related
to the Livox Mid series.
www.livoxtech.com/mid-40-and-mid-100
Downloading Livox Viewer
Visit the link below to download Livox Viewer.
www.livoxtech.com/mid-40-and-mid-100
Searching for Keywords
Search for keywords such as “FOV” and “mount” to nd a topic. If you are using Adobe Acrobat Reader
to read this document, press Ctrl+F on Windows or Command+F on Mac to begin a search.
Navigating to a Topic
View a complete list of topics in the table of contents. Click on a topic to navigate to that section.
Printing this Document
This document supports high resolution printing.
©2019 Livox Tech. All Rights Reserved.
3
Contents
Using this Manual 2
Legend 2
Downloading Documents 2
Downloading Livox Viewer 2
Product Prole 4
Introduction 4
Product Characteristics 4
Overview 6
Connectors 8
LiDAR Connector 8
Power Cable and Sync Cable 9
Ethernet Port 9
Mounting the Livox Mid Series 10
Effective Field of View (FOV) Range 10
Dimensions 10
Getting Started 12
External Power Supply 12
Connection 13
Usage 15
Coordinates 15
Output Data 15
Working States & Working Modes 17
Rain/Fog Suppression 18
Livox Viewer 18
Software Development Kit (SDK) 23
Storage, Transportation, and Maintenance 23
Storage 23
Transportation 23
Maintenance 23
After-sales information 24
Troubleshooting 24
Appendix 25
Appendix 1 25
Appendix 2 26
Appendix 3 26
Appendix 4 27
Specications 27
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©2019 Livox Tech. All Rights Reserved.
Product Prole
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 signicantly 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.
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 1 s
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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
signicantly 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°,
and the 64-line non-Livox LiDAR sensor is 27°.
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%
FOV Coverage (%)
Integration time (s)
0 0.2 0.4 0.6 0.8 1 1.2 1.4
0
20
40
60
80
100
Livox Mid-40
64 lines
32 lines
16 lines
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
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©2019 Livox Tech. All Rights Reserved.
Laser Wavelength 905 nm
Laser Safety Class 1 (IEC 60825-1:2014)
Detection Range (@100 klx) 90 m @ 10% reectivity
130 m @ 20% reectivity
260 m @ 80% reectivity
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 specications
• 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
1
2
3
4
5
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.
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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.
1
2
356
4
4. ¼ Inch Mounting Hole
Can be mounted on a tripod or other bases
outtted 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.
Livox Mid-100
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.
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.
1
2 3 4
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©2019 Livox Tech. All Rights Reserved.
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.
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
3Ethernet_TX+ Output 100BASE-TX, TX+
4Ethernet_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
9Ethernet_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)
t0
t1
t0=1s
1ms<t1<300ms
Figure 2.1.2 Sync signal description
Refer to the Software Development Kit (SDK) section for more information about the sync signal.
43
1211109
21 5
87
6
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Pin Signal Type Description Color
1 Power+ Power DC 10-16 V (max 16 V) Red
2 Ground Power Ground Black
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
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
500±25
2
A B
Table 2.2.1 Power cable description
Table 2.2.2 Sync 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
500±25
3
1
2
3
1
2
Figure 2.2.2 Sync cable
Figure 2.2.1 Power cable
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.
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©2019 Livox Tech. All Rights Reserved.
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.
45.70
38.4° 19.2°
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
39.70
19.2°
38.4°
98.4°
Unit: mm
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 outtted with ¼ inch mounting holes, it is
recommended to rst attach the Livox Mid-40 to the mounting bracket and then mount the Livox Mid-
40 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.
69
15.60
45.70
76
37
4-M3 6
3×4 1.2
88
66
54
42
24
20.30
4
1.23
7
16
40.50
Figure 3.2.1 Livox Mid-40 Dimensions (refer to Appendix 1)
Table 3-2-1 Livox Mid-40 Weight & Dimensions
Weight (with cable) 710 g
Dimensions 88 × 76 × 69 mm
Unit: mm
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