RoboSense LiDAR RS-Bpearl, User Manual

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RS-Bpearl User manual
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4.5.Phase Locking
To minimize interference between multiple LiDARs, RS-Bpearl provides a phase-locking feature
that enables users to control where the lase firings overlap.
The phase locking feature, when a PPS pulse signal is triggered, askes the RS-Helios to rotate to a
specific angle to fire laser pulses. When multiple RS-Helios sensors are used at the same time, the
relative rotation angle between them is kept unchanged. The normal phase locking requires the
normal and stable PPS pulse triggering signal.
Figure 4-3 shows the RS-Bpearl set with different phases. The red arrows indicate the firing angle
of the sensor’s laser at the moment it receives the rising edge of the PPS signal. In the cases
below: 0 degrees, 135 degrees, and 270 degrees respectively.
Figure 4-3 RS-Bpearl Different Phase Settings
For the RS-Bpearl_2.0, users can use the RS-Bpearl RSView to check and modify the Phase
Locking settings: click
Tools > RS-LiDAR Information
for the "Phase Lock" parameter setting. The
phase locking value can be set from 0 to 359.
For the RS-Bpearl_3.0, users can use the RS-Bpearl Web Interface to check and modify the Phase
Locking settings: click
Setting > Phase Lock Setting,
for the "Phase Lock" parameter setting. The
phase locking value can be set from 0 to 359.
The Phase Lock feature will only be available when the rotation speed of the RS-Bpearl is set as
600RPM or 1200RPM.
4.6.Time Synchronization
The RS-Bpearl_2.0 only supports GPS+PPS time synchronization, while the RS-Bpearl_3.0
supports both GPS+PPS and PTP/gPTP time synchronization methods. Users can use the
RS-Bpearl Web Interface to set the time synchronization methods (Please refer to Appendix A.2
for instructions of setting at Web Interface.). Both the RS-Bpearl_2.0 and the RS-Bpearl_3.0 can
be connected to an external GPS module, and can synchronize the sensor system time with the
time provided by the GPS.