RoboSense RS-Ruby Lite, User Manual, Page: 15 / 104

RS-Ruby Lite Users’ Manual
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Hence, the angle value in this block is 228.41°.
Notice: the 0°axis of azimuth is co-axis and same positive direction with the Y axis in Figure
12.
5.1.2.2 Channel Data
Channel data is 3 bytes. The higher 2 bytes of them are used to save the distance information.
The lower one byte stands for reflectivity.
Table 6: The Format of Channel Data.
Channel data n (3 byte)
Distance (2 bytes) Reflectivity (1 byte)
Distance1[15:8] Distance2[7:0] Reflectivity [7:0]
Distance is 2 bytes, resolution: 0.5 cm.
For instance, in Figure 6, the explanation of Channel data is as follow:
Get the higher 2 bytes(HEX): 0x08 (Distance 1), 0x4b (Distance 2).
Combine to a 16-bit unsigned integer (HEX):0x084b
Convert the value to decimal (DEC):2123
According to the resolution 0.5 cm, change to meter: 2123 * 0.005 = 10.615 m
Hence, the distance between sensor and measurement object is 10.615 m.
Reflectivity is a relative value, please find the concrete definition in “chapter 9 Reflectivity”,
Reflectivity could show energy of the light return from measuring object in the real
circumstance. Through analytic of reflectivity, the object of different materials can be
distinguished.
5.1.3 Tail
The 4-byte Tail is reserved as the checksum.
5.1.4 MSOP Data Package
The following figure shows the format of MSOP data packet and relevant parsing processes in
next page.