2D laser scanner GY-300

This device has an IP67 protection level and can resist the effects of splashing water and short-term immersion. Please pay attention to the protection level of IP67.

If the equipment needs to work outdoors for a long time, it is recommended to install a waterproof device for the equipment. The temperature difference between day and night outdoors can cause water vapor to enter the equipment and damage it.

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Description

User Manual V1.0

1. Introduction

The GY-300 laser scanner is a two-dimensional laser scanner that can measure the distance between the laser scanner and the target object.

The GY-300 has a 190 ° angle of view and a maximum detection distance of 260 meters, providing users with a very wide detection range.

The minimum Angular resolution of GY-300 is 0.0312 °, the divergence angle of light spot is 3 mrad, and it can distinguish small objects in the distance. The repetition rate is up to 300 kHz, with 300000 point cloud data per second, providing users with more detailed information.

The GY-300 has multiple echo processing technology, which can still operate normally in complex weather environments such as rain, snow, and fog. It is mainly used in contour scanning, area protection, obstacle measurement, intelligent transportation, geographic information, and other fields.

2. Reminder

2.1 Safety tips

Please read the safety instructions carefully and operate according to the instructions.

Laser radiation hazards

This device contains a laser emission device. Please operate according to the operating manual to avoid eye damage.

High voltage hazard

There is high voltage inside this device. Unauthorized personnel are not allowed to disassemble it to avoid the risk of electric shock.

Plugging and unplugging hazards

The connector of this device does not support hot swapping. Please confirm power outage before operating.

Falling hazard

This device is not designed to prevent falling or severe collision, as it may damage internal optical components.

2.2 Operation safety tips

The measuring laser wavelength of this equipment is 905nm. According to the International Electrotechnical Commission standard (IEC 60825-1), the laser safety level is Level 1.

Explanation of laser safety level 1:

Based on existing medical knowledge, it is considered safe.

Under any conditions, the eyes will not be harmed by optical radiation.

Although there is harmful laser, it is placed in the sealed product of level 1, and no harmful Radiant energy escapes from the sealing device.

2D laser scanner GY-300

Figure 2-1 Safety instructions

2.3 Operation suggestions

The optical components of this device must be kept smooth and clean without dirt and dust. Please do not touch the laser emission window directly with your hands.

When cleaning the mask, please be careful and use an optical cleaning cloth. Do not use sharp or hard objects to avoid scratching the mask, otherwise it will affect the accuracy of the measurement.

Avoid storing and using this device in an overheated environment. The device does not have a high-temperature automatic shutdown function, and prolonged exposure to high-temperature environments can affect the lifespan of the device.

This device has an IP67 protection level and can resist the effects of splashing water and short-term immersion. Please pay attention to the protection level of IP67.

When the device is operating normally, do not plug or unplug all connecting wires and interfaces with power.

2.4 Scope of Responsibility

The manufacturer does not accept liability for damages caused by:

Failure to comply with operating procedures

Incorrect use of equipment

Unauthorized disassembly or modification

Using unauthorized parts, consumables, and accessories

Due to product or technical updates, the actual delivered products may differ from those described in this article. Users are requested to contact the manufacturer for the latest documentation or confirm the required information.

3. Working environment

Working voltage 24V DC ± 15%

Working temperature range -30~50 ℃

Correct usage method:

Connect to a power supply voltage within ± 15% of 24V DC

Pay attention to the use environment that meets the working conditions of this device

The usage environment complies with IP67 requirements

Improper usage:

Directly facing the sun or aiming at other strong light sources for measurement

Used in ultra-high temperature environments

4. Product Description

4.1 Product model

The product model description is as follows:

2D laser scanner GY-300

4.2 Product Series

Table 4-1 Product Series

Specification and model	Scenario Type	range	hardware interface
GY-300-260-320	Outdoor type	260 meters	1 network port, 1 power interface
GY-300-260-321	Indoor
GY-300-120-320	Outdoor type	120meters	1 network port, 1 power interface
GY-300-120-321	Indoor
GY-300-260-322	Outdoor type	260meters	1 network port, 1 power interface, 1 I/O interface, 1 communication interface
GY-300-260-323	Indoor
GY-300-120-322	Outdoor type	120meters	1 network port, 1 power interface, 1 I/O interface, 1 communication interface
GY-300-120-323	Indoor

4.3 Technical indicators

Table 4-2 Technical Indicators

Parameters	GY-300-260-32X	GY-300-120-32X
scan angle	Max 190°（Can be adjusted in the set parameters）
Scanning frequency	15/25/35/50 Hz
response time	10ms
Measurement distance @ 90% reflection (Outdoor/Indoor)	200m/260m	80m/120m
Measurement distance @ 10% reflection (Outdoor/Indoor)	80m/100m	40m/60m
System accuracy (PV value, 90% target reflection)	±25 mm@80m ±13 mm@50m ±8 mm@20m	±12 mm@40m ±7 mm@20m ±5 mm@5m
Statistical accuracy (1 σ， 90% target reflection)	±11 mm@80m ±5 mm@50m ±4 mm@20m	±7 mm@40m ±4 mm@20m ±4 mm@5m
System accuracy (PV value, 10% target reflection)	±80 mm@80m ±40 mm@50m ±15 mm@20m	±30 mm@40m ±15 mm@20m ±8 mm@5m
Statistical accuracy (1 σ， 10% target reflection)	±30 mm@80m ±10 mm@50m ±5 mm@20m	±12 mm@40m ±5 mm@20m ±4 mm@5m
Measuring blind spots	2m	0.5m
Beam divergence angle	3mrad
Echo frequency	5
wavelength	905nm
laser class	Level 1 (Eye Safety)
data interface	Ethernet(TCP/IP) 10/100 Mb/s
	RS-422/RS-232 1900Kb/s（Optional）
Switching input/output	4/6（Optional）
protection grade	IP67
Resistance to ambient light	70000lx
Overall dimensions	158mm×199mm×159mm
weight	3.6kg
Angular resolution in degrees	0.0312/0.0625/0.125/0.25/0.5/1/@15Hz 0.0625/0.125/0.25/0.5/1/@25Hz 0.0625/0.125/0.25/0.5/1/@35Hz 0.125/0.25/0.5/1/@50Hz
Heating function	correct	correct

Note: X represents 0, 1, 2, 3;

List only the technical indicators for indoor testing. The testing conditions are at room temperature, stable for 10 minutes when turned on, and all light spots are vertically incident on the surface of the detection target;

This three-dimensional dimension includes the connecting plug.

4.4 Working parameters

Table 4-3 Electrical Characteristics

INPUT VOLTAGE	24V DC（±15%）
consumption	22.0W No heating 72.0W heat
External trigger input (TRIG) voltage range	3.3~24 V
Switching output voltage	24 V
Switching output current	0.2 A

Table 4-4 Work Environment

operation temperature	-30~+50℃
storage temperature	-30~+70℃
relative humidity	15%~90%

4.5 Interface Description

As shown in the right figure:

1: Power interface

2: Communication interface (optional)

3: I/O interface (optional)

4: Network interface

Table 4-5 Power Interface Description (Radar Interface View)

pin	function	illustrate
1	+24V	Power supply positive pin
2	+24V	Positive pins for heating and motor power supply
3	0V	Power supply negative pin
4	GND	Protected Area
5	0V	Negative pins for heating and motor power supply

Note: The power lines corresponding to pins 1 and 2 need to be connected to+24V at the same time, the power lines corresponding to pins 3 and 5 need to be connected to 0V at the same time, and pin 4 needs to be connected to the power protection ground.

Power cord color:+24VDC - brown+ 24VDC - white; 0V - blue; 0V - gray; GND - Black.

Table 4-6 Network Interface Description (Radar Interface View)

pin	function	illustrate
1	TX+	10/100M Ethernet interface
2	RX+	10/100M Ethernet interface
3	TX-	10/100M Ethernet interface
4	RX-	10/100M Ethernet interface

Table 4-7 Communication Interface Description ① (Radar Interface View)

pin	function	illustrate
1	VS OUT	Power supply for switching outputs 1 and 2
2	RD–/RxD	RS-422/RS-232 reception
3	OUT1	Switching output 1 ②
4	GND RS, CAN	RS-422/RS-232/CAN bus ground
5	OUT2	Switching output 2
6	Debug_RxD	Debugging serial port reception
7	TD–/TxD	RS-422/RS-232 transmission
8	Debug_TxD	Debugging serial port transmission
9	RD+	RS-422 reception
10	TD+	RS-422 transmission
11	CAN L	CAN bus low
12	CAN H	CAN bus high

Note: ① Some models include communication interfaces.

② The switch output port 1 reports a fixed scanning obstruction alarm signal.

Table 4-8 I/O Interface Description (Radar Interface View)

pin	function	illustrate
1	VS OUT3-6	Switching output 3-6 shared power supply
2	GND IN1/2	Switching input 1/2 common ground
3	IN1	Switching input 1
4	GND IN3/4	Switching input 3/4 common ground
5	IN2	Switching input 2
6	IN3	Switching input 3
7	GND OUT3-6	Switching output 3-6 common ground
8	IN4	Switching input 4
9	OUT3	Switching input 3
10	OUT4	Switching input 4
11	OUT5	Switching input 5
12	OUT6	Switching input 6

Note: Some models include I/O interfaces.

4.6 Structural dimensions

2D laser scanner GY-300

Figure 4-2 Structural dimensions (including I / O interface and communication port)

Component instructions

2D laser scanner GY-300

Figure 4-3, part description

1 LED, and the display board 7 Behind the shell

2 Front shell 8 Install the fixing hole

3 Power interface 9 Protective cover

4 communication interface (optional) 10 power supply backplane

5 I / O interface (optional) 11 Install the fixing hole

6 Network interface

pilot lamp

2D laser scanner GY-300

Figure 4-4 Schematic diagram of the indicator light distribution

Table 4-9 Description of the front panel indicator light

pilot lamp	function	explain
W	Work indicator light	Bright: The module works normally Out: The module is not working properly
Q1	Switch volume indicator light	obligate
Q2	Switch volume indicator light	Bright: the switching volume Q2 output is valid Out: no output
M	Motor indicator light	Green bright: motor, normal operation Red and bright: the motor does not work and needs to be repaired Orange is bright: the motor rotation is unstable Out: the motor stops
X	Scan the visual field occlusion alarm function	Red light: the field of vision within 0.5 meters is blocked (three minutes delay), which affects the radar test, check the field of vision occlusion or wipe the mask Orange is bright: the field of vision within 0.5 meters is blocked, but it does not affect the test Out: the field without occlusion or occlusion alarm function is closed
SEG	situation display	State display of digital tube, see Table "Digital Tube Display Description"

Table 4-10 Digital tube display instructions

show	state	explain
	Initial state, the laser is not turned on	normal
	Initialization is complete and it works normally	normal
	In the initialization	Normal in the module initialization after power-up or reset
	Initialization failed	Initialization failed, please restart or contact the manufacturer
	GY-300 error	Return to the factory for maintenance
	The temperature is too low	Check that the heating function is turned on Wait for the heater to heat up
	Too high temperature, or abnormal heater	Check if the ambient temperature is too high Return to the factory for maintenance
	The temperature is so high that the module enters the automatic protection state	Check if the ambient temperature is too high Return to the factory for maintenance

device interface

network interface:

The data interface of GY-300 is an Ethernet port, with the data transmission rate of 10 / 100 Mbit/s, which is a TCP / IP interface supporting full and half-duplex.

Both the configuration and data output of the GY-300 are implemented through the Ethernet interface.

The Ethernet interface is set up as follows:

IP address: 192.168.100.105

Subnet mask: 255.255.254.0

TCP port: 2400

Users can also set their own Ethernet addresses.

Note: After the user has set the Ethernet parameters, the parameters should be saved so that the parameters remain valid after the restart.

I / O port (some model configuration):

GY-300 provides I / O interface for expanding radar alarm function and provides 6 sets of switching output ports.

Communication port (some model configuration):

The GY-300 provides a communication interface for serial port (RS232 / RS422) communication.

application scenarios

The GY-300 mainly has the following uses:

Measure the distance of the object

If there is any obstacle in the set range, if any, trigger the relevant alarm

According to these uses, the following application scenarios:

Smart port, container loading / handling / positioning

Intelligent Transportation

Robots / driverless vehicles

Regional security

geographic information

Industrial AGV (Automated Guided Vehicle)

pack

The product packaging box contains the following components:

Table 4-11 List of product packaging

specifications and models	inventory
GY-300-260-320/ GY-300-260-321	Including radar, 5 m 24V power line, 2 m network cable, dust-free cloth, test sheet
GY-300-120-320/ GY-300-120-321	Including radar, 5 m 24V power line, 2 m network cable, dust-free cloth, test sheet
GY-300-260-322/ GY-300-260-323	Including radar, 5 meter 24V power cable, 2 meter network cable, 1.5 meter I / O cable, 1 meter communication cable, dust-free cloth, test sheet.5
GY-300-120-322/ GY-300-120-323	Including radar, 5 meter 24V power cable, 2 meter network cable, 1.5 meter I / O cable, 1 meter communication cable, dust-free cloth, test sheet.5

Installation and measurement

equipment installation

Installation requirements:

Must be installed on a strong structure;

Must be far away from the shock and vibration source;

Stay away from the heat source;

Avoid direct sunlight;

Connect the aviation plug wiring, if necessary, use pliers and other tools to install the aviation plug completely.

Installation preparation:

Open the outer package of the equipment;

Check whether the equipment is in good condition and whether the accessories are complete, please refer to Section 4.3;

Prepare inner agon for M6 screws, screwdriver (for fixing equipment).

Installation steps:

Select the appropriate installation location;

Fixed the equipment with screws.

way to install:

After being installed on the module with the mounting frame, hang the mounting frame directly on the mounting surface.

2D laser scanner GY-300

Figure 5-1 Installation method

I / O cable connection

Switch volume input line for GY-300

2D laser scanner GY-300

Figure 5-2 Non-floating space connection mode of switching quantity input

2D laser scanner GY-300

Figure 5-3, the floating air connection mode of the switching quantity input

The tion of GY-300 switch output

2D laser scanner GY-300

Figure 5-4 Schematic diagram of switching volume output 1 / 2 connection PLC

2D laser scanner GY-300

Figure 5-5 Switch volume output 3...6 Schematic of connecting PLC

operational principle

The principle of ranging

The laser ranging device calculates the linear distance between the device and the target by measuring the time between the laser signal emitted by the device and the laser signal reflected by the target.

As shown in the figure, the laser ranging device emits a laser, and the laser reflects the target to be measured. The laser receiver receives the laser after receiving the time difference between the emission and receiving time, and the distance d between the laser ranging device and the target is calculated by the formula, wherein c is the propagation speed of the laser in the air.

Figure 6-1 Schematic diagram of the laser ranging principle

Figure 6-2 Schematic diagram of the ranging pulse transmission

Scanning principle

The GY-300 is driven by a motor to rotate the mirror, and the laser signal hits the rotating mirror. The scanning surface of GY-300 is a sector. During scanning, if the laser shines on the object and produces a reflection, GY-300 receives the reflected laser and gives the position of the object in the form of distance and angle. The GY-300 uses a laser wavelength of 905nm, at which the laser signal cannot perspective the object, so the occluded part is not visible.

2D laser scanner GY-300

Figure Figure 6-3 Principles of laser scanning

The GY-300 internal motor can set up for a rotation period of 15Hz / 25Hz / 35Hz / 50Hz. After the angular resolution is set, the motor emits the measuring laser each time it turns to the set angle. The smaller the angular resolution, the more measurement points within an angle, the more details of the measured object.

The angular resolution supported by GY-300 is 0.0312/0.0625/0.125/0.25/0.5/1, and the minimum resolution supported by different scanning frequencies is different. For details, please see Chapter 4.3, technical indicators.

The influence of the measured object surface on the measurements

The surface reflectivity of Kodak whiteboard (Kodak white material) is 100%, according to this definition, the reflectivity of bright surface is generally greater than 100%, such as mirror objects, mirrors, etc.

Laser light diffuses on the surface of most objects, and the reflected light diverges in all directions. Reflectivity will vary with the surface structure and color.

Bright surface reflectivity is higher than dark surfaces, and objects with high reflectivity can be detected farther away.

The bright white plaster reflectivity is about 100% and the black foam rubber is about 2.4%. On the very rough surface, part of the reflected energy is blocked by the rough surface, and the returned energy tends to become smaller.

According to the law of reflection, the angle of reflection is equal to the angle of incidence. If the laser is incident vertically to the surface of the object, the laser energy is optimally reflected. The smaller the Angle between the laser beam and the surface of the object, the smaller the reflection energy is.

If the measured object is a small object, the size is smaller than the diameter of the laser beam, only a part of the laser will illuminate on the object, and the laser that does not illuminate the object will continue to propagate forward. If the total laser energy returned by the fine object is not enough, the small object cannot be detected. If the multi-echo function is turned on, then the object behind the tiny object will return the remaining energy, thus creating a second or even multiple echoes.

Figure 6-4 Reflections of small objects

Spot and distance

As the measured distance increases, the spot diameter of GY-300 increases accordingly.

The relationship between the spot diameter and the measured distance is:

Spot diameter (mm) = distance (mm) * Divergence angle (rad) + Initial spot diameter (mm)

The divergence angle of GY-300 is 3 mrad, with an initial spot size of 13mm * 4mm.

2D laser scanner GY-300

Figure 6-5 Schematic representation of the spot divergence

Table 6-1 Relationship between light spots and distance

Distance (in unit: m)	Spot diameter (in mm mm)
10	43
30	103
50	163
80	253
100	313
150	463
200	613

The measured distance between the spots also increases. The distance between the spots and the choice of angular resolution are also related, the smaller the angular resolution, the smaller the distance between the spots and the more details of the objects measured objects.

Distance between spots calculation formula: Spot spacing = distance * tan (angular resolution)

Figure 6-6 angular resolution schematic diagram

Minimum subject size

In order to accurately measure an object, there must be at least one complete light spot shining on the object.

Figure 6-7 Schematic diagram of the minimum subject size

As shown in the figure above, for multiple measurements of the same object, at least one complete light spot shines on the object can be accurately detected each time (provided that the reflectivity of the object meets the requirements).

Formula for calculating the minimum subject size:

Minimum size = spot diameter + spot spacing

among

Spot diameter (mm) = distance (mm) * Divergence angle (rad) + Initial spot diameter (mm)

Spot spacing = distance * tan (angular resolution)

As can be known from the above formula, the smaller the angular resolution, the smaller the divergence angle, the smaller the size of the detected object, and the more details of the object that can be detected.

Note: For the application of GY-300 output measurement data, although the irradiation can be output once, but if to get accurate and reliable measurement data, the laser spot must be completely illuminated on the object many times to be more reliable. At the same time, try to ensure that the relative position of GY-300 and the tested object should not change.

Data output at multiple echoes

The GY-300 supports the processing of up to 5 echo signals.

Figure 6-8 Schematic diagram of the multiple echoes

When GY-300 works in weather conditions such as rain, fog and snow, the emitted laser pulse may produce multiple weak reflections in the propagation route. Although a part of the laser energy will be lost every time an obstacle is encountered, the remaining laser energy will shine on the measured object to produce a strong reflection. If the energy of multiple echo signals reaches the detection threshold, these echoes are identified as effective echoes. GY-300 can output all the echo information through the data interface. The user can select the output mode of multiple-echo according to the specific usage scenario.

The output mode of the multiple echoes includes:

Outputs the first-echo data

Output the last echo data

Output the strongest echo data

Suggestion: In severe weather conditions, or in actual use requires measurement through the glass window, setting back to the last echo will get more accurate measurement data.

If you do need to measure through the glass window, try to make the glass window have an Angle of less than 90 degrees to the GY-300 (do not shoot vertically to the glass surface).