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Sensor Wiring Guide

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Luke edited this page Jun 29, 2026 · 1 revision

Camera Class

USB Camera with Trigger

usb_camera

Industrial Camera

gige_camera

gige_power_camera

RealSense

realsense_camera

Note: Some Sync Boards do not support 1.8V triggering.

Camera Sync Verification Method

Camera hardware sync verification does not require running the SDK; it only needs the trigger signal and the camera to be properly connected. Therefore, we typically use the camera's bundled software, such as Hikvision's MVS, to verify camera synchronization results.

1. Single Camera Sync Verification

  1. Open the camera software, e.g., Hikvision's MVS software

For specific software usage, refer to this page

Follow the tutorial to ensure:

  • Camera name is correctly configured
  • Camera trigger mode is correctly configured
  • Camera exposure time is correctly configured

Afterward, the camera's acquisition frame rate will be displayed in the software interface. When correctly wired and correctly triggered, the camera's acquisition frame rate will match the frame rate set on our Sync Board.

The frame rate displayed in the highlighted area of the image should match the set frame rate — this indicates correct camera sync line connection and correct camera triggering.

2. Multi-Camera Synchronization

Method 1:

  1. Set the camera frequency to a low frequency, e.g., 1Hz, and place multiple cameras in parallel
  2. Use the camera software to open multiple camera streams
  3. Wave an object in front of the lenses and observe whether the position of the moving object is consistent across the multiple captured images.

Method 2:

  1. Set the camera frequency to a low frequency, e.g., 1Hz, and place multiple cameras in parallel
  2. Use the camera software to open multiple camera streams
  3. Display a rapidly changing clock on a phone or other device, and observe whether the times captured by multiple cameras are consistent

LiDAR Class

Preface

Our synchronization is based on UTC time, so we need to obtain UTC time from the host computer and then send it to the LiDAR system. Therefore:

  1. All LiDAR synchronization requires running the SDK to obtain the correct sync time.
  2. UTC time will be converted to Unix timestamps, so the baseline for verifying synchronization is whether the time on this webpage and the time published by the LiDAR are essentially consistent. (LiDAR processing may have slight delays)

Any type of LiDAR can use the above method to verify synchronization status.

Mid360

mid360

LiDAR Sync Verification Process

  1. Connect the cable between the LiDAR and the Sync Board
  2. Run the minimal SDK
  3. Open the LiDAR software or host computer to check synchronization status
image

Correct synchronization indicators:

  1. GPS Sync is displayed
  2. The current time is within 4-5 seconds slower than the time on the webpage.

Livox Hub

2

Livox Converter 1.0

Currently, devices using Livox Converter 1.0 by default include:

  • Mid-40
  • Mid-100

Wiring Example:

3

Since the PC needs to receive GPRMC data and then send it to the LiDAR via the SDK protocol, certain SDK configurations are required:

Specific modifications should be made according to the official documentation for configuration changes

Official Documentation

RoboSense LiDAR

RoboSense LiDAR does not support TTL-level sync data, so the TTL level must be converted to RS-232 level.

For specific sync wiring, refer to: https://blog.csdn.net/weixin_43247057/article/details/128950033

RoboSense LiDAR Sync Verification

The following status displayed on the LiDAR web interface indicates synchronization:

image

The key point is that the GPS Data field has data.

GPS Class

Currently, GPS sensors only support the NMEA0183 protocol. The protocol level is 3.3V.

gps gps_out

IMU Class

Currently, only external trigger signal synchronization of IMU is supported, meaning the Time Sync Board generates a pulse that triggers the IMU to acquire one data point. The Time Sync Board records each pulse trigger moment, and the IMU should acquire one data point and immediately send a frame of data to the host computer.

IMU External Trigger Wiring

  • Sync Board trigger line <---> IMU trigger line
  • Sync Board GND <---> IMU GND

IMU Time Sync Verification

  1. Correct wiring
  2. Configure IMU frequency to a low-frequency signal, e.g., 1Hz
  3. Use a serial assistant or the IMU's bundled software to read IMU data
  4. Observe whether the IMU data feedback frequency is the set 1Hz, and whether the IMU data complies with the corresponding communication protocol

Other Sensor Connection Configurations

📝 中文页面 (Chinese Page)

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