RoboSense LiDAR RS-Ruby Plus, Руководство пользователя, Страница: 14 / 60

RS-Ruby Plus User Manual
8
4 Sensor Specifications and Features
4.1 Sensor Specification
1
4.1.1 Parameters
Table 4-1 Sensor Parameters
Sensor
Laser Channels 128 FOV(Horizontal) 360°
Laser Wavelength 905nm FOV(Vertical)
﹢
15° ~ -25°
（
40°in total
）
Laser Emission Angle
(Full Angel)
Horizontal:2.0mrad
Vertical: 1.7mrad
Angular Resolution
(Horizontal)
0.2°/ 0.4°
（
Balance Mode
）
0.1°/ 0.2°
（
High Performance Mode
）
Laser Safety Class 1 Eye-safe
Angular Resolution
(Vertical)
+3.82°~ -6.51°
：
0.1°
（
104 channels
）
Measurement Range
1
0.4m to 240m
（
240m@10% NIST
）
Ranging Accuracy
(Typical)
2
Up to±3cm
Blind Distance ≤0.4m Frame Rate 10Hz/ 20 Hz
Rotation Speed 600/ 1200 rmp(10/20Hz)
Output
Data Rate
2,304,000pts/s (Single Return Mode
）
4,608,000pts/s (Dual Return Mode
）
4,608,000pts/s (High Performance Mode
）
9,216,000pts/s (High Performance Mode
）
Ethernet 1000M-Base-T1
Data Output Protocol UDP packets over Ethernet
UDP Packets Content 3D Coordinates, Calibrated Reflectivity Measurements, Time Stamps
Mechanical
Operating Voltage 9V - 32V Dimension φ125mm * H128 mm
Power Consumption 3 27W
（
Typical
）
Operating
Temperature 4
-40
℃
~ +60
℃
Weight 1.85kg
（
LiDAR body
）
Storage Temperature -40
℃
~ +85
℃
Time Synchronization
$GPRMC with 1 PPS &
PTP/gPTP
Sensor Protection IP67/IP6K9K
1
The measurement range is based on a 10% NIST diffuse reflector, and the test results may be affected by the
environment conditions, including but not limited to ambient temperature, light intensity and other factors;
2
The ranging accuracy takes a 50% NIST diffuse reflector as the target. The test results may be affected by
environment conditions, including but not limited to factors such as ambient temperature and target distance.
The accuracy value is applicable to most channels, and there may exists differences between some channels.
3
The power consumption of the device may be affected by environment conditions, including but not limited to
factors such as ambient temperature, target distance, target reflectivity, etc.
4
The operating temperature of the device may be affected by environment conditions, including but not limited
to factors such as ambient light and airflow changes.