RoboSense RS-Bpearl, Руководство пользователя

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RS-Bpearl User Manual
7. Key Characteristic
7.1 Return Mode
7.1.1 Return Mode Principle
RS-Bpearl supports multiple return modes: Strongest return, Last return, and Dual return
modes. When set to dual return mode, the details of the target will be enhanced, and the
number of point is twice than that of a single return.
Due to the divergence of the beam, it is possible to generate multiple laser returns with
one laser emission. When the laser pulse is emitted, its light spot gradually becomes
larger. Suppose a light spot is large enough to shot multiple targets and produce multiple
returns. Generally, the farther away the target is, the weaker it will be at the receiver, while
the high reflective surface may be the opposite.
RS-Bpearl analyzes the received multiple return values and outputs the strongest, last or
simultaneous output of these two return values depending on the setting. If set to the
strongest return mode, only the strongest reflected return value is output. Similarly, if the
setting is the last return mode, only the last return value is output; if set to double return
mode, the strongest and last return information is output simultaneously.
Note: Only when the distance between two objects is greater than 1 meter, the LiDAR
could distinguish these two returns.
7.1.1The Strongest Return
When the LiDAR beam hits only one object, there is only the strongest return at this time.
7.1.2Strongest, Last and Dual Returns
When the laser pulse hit two objects at different distances, there will be two return wave,
then it will lead two situations:
(1) When the strongest return is not the last return, return the strongest and last return;
(2) When the strongest return is also the last return, return the strongest return and the
second strongest return.
7.1.3Return Mode Flag
The factory default setting for RS-Bpearl is the Strongest Return mode. If you need to
change the settings, please refer to Figure C-14 in Appendix C of this user manual. The
300th Byte in the DIFOP is the flag of the return mode, which corresponds to the following:
Table 8: Interchange between Return Mode and Flag Position.
Flag Position Return Mode
00 Dual Returns
01 Strongest Return
02 Last Return