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RS-Bpearl User Manual

III

TABLE of CONTENT

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Terminology

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1. Safety Notice

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2. Introduction

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3. Product Specifications

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4. Interface

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4.1 Power Supply

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4.2 Data Output interface of LiDAR

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2.3 Interface Box

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2.4 Connection of Interface Box

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5. Communication Protocol

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5.1 MSOP

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5.1.1 Header

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5.1.2 Data Field

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5.1.3 Tail

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5.1.4 MSOP Data Package

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5.2DIFOP

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5.3UCWP

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6. GPS Synchronization

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6.1 GPS Synchronization Theory

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6.2 GPS Usage

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7. Key Characteristic

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7.1 Return Mode

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7.1.1 Return Mode Principle

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7.1.1The Strongest Return

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7.1.2Strongest, Last and Dual Returns

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7.1.3Return Mode Flag

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7.2 Phase Lock

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8. Point Cloud

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8.1 Coordinating Mapping

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9. Definition of Vertical Angles

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10. Reflectivity

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11. Troubleshooting

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Appendix A Point Time Calculate

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A.1 RS-Bpearl Calculation of time stamp in single mode

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A.2 RS-Bpearl Calculation of time stamp in dual mode

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Appendix B Information Registers

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B.1 Motor(MOT_SPD)

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B.2 Ethernet(ETH)

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B.3 FOV Setting (FOV SET)

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B.4 Motor Phase Offset (MOT_PHASE)

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Содержание RS-Bpearl

Страница 1: ...RS Bpearl User Manual...

Страница 2: ...te Figure Update dimension Update power consumption Update RSView Guide in Appendix C Update Appendix A Update footnote of Product Specification Update table of correspondence between laser channel an...

Страница 3: ...a Stream Output Protocol DIFOP Device Info Output Protocol UCWP User Configuration Write Protocol Azimuth Horizontal Angle of LiDAR Timestamp Time Point of Encapsulation of a UDP Packet Header The Hea...

Страница 4: ...chronization Theory 16 6 2 GPS Usage 16 7 Key Characteristic 17 7 1 Return Mode 17 7 1 1 Return Mode Principle 17 7 1 1The Strongest Return 17 7 1 2Strongest Last and Dual Returns 17 7 1 3Return Mode...

Страница 5: ...C 5 Save Streaming Sensor Data into PCAP File 37 C 6 Replay Recorded Sensor Data from PCAP Files 37 C 7 RS Bpearl Factory Firmware Parameters Setting 39 C 8 Setting RSView Data Port 41 C 9 Firmware U...

Страница 6: ...ies with IEC60825 1 2014 Read Instructions All safety and operating instructions should be read before operating the product Follow the Instructions All operating and use instructions should be follow...

Страница 7: ...000 points second Horizontal field of view FOV of 360 Vertical field of view FOV of 90 Figure 1 Representation of RS Bpearl Imaging The operating Instructions of LiDAR Connecting the device of RS Bpe...

Страница 8: ...g IP67 Operation temperature 30 60 5 Storage temperature 40 85 1 The following data is only for mass produced products Any sample testing machine and other non mass produced versions may not be referr...

Страница 9: ...ack GROUND 5 Green GPS PULSE 6 Blue GPS REC 7 Brown LiDAR Ethernet RX 8 Brown white LiDAR Ethernet RX 9 Orange LiDAR Ethernet TX 10 Orange white LiDAR Ethernet TX Figure 2 Aviation Connector PIN Numbe...

Страница 10: ...ghted Meanwhile the green LED which indicates the power output status will be lighted when the power output is in order While red LED is bright and green LED is dark Interface Box is in Protection sta...

Страница 11: ...6 RS Bpearl User Manual 4 4 Connection of Interface Box Figure 4 Diagram of Interface Box Connection...

Страница 12: ...ation with the computer MSOP Main Data Stream Output Protocol Distance azimuth and reflectivity data collected by the sensor are packed and output to computer DIFOP Device Information Output Protocol...

Страница 13: ...8 RS Bpearl User Manual Figure 5 Single Return MSOP...

Страница 14: ...blocks In the 42 byte data header the first 8 bytes are for header identification the 21st to 30th byte records timestamp and the rest bytes are reserved for future updates The first 8 bytes of the h...

Страница 15: ...following steps Get azimuth values 0x61 0x86 Combine to a 16 bit unsigned integer 0x6186 Convert to decimal 24966 Divided by 100 Result 249 66 Hence the firing angle is 249 66 5 1 2 2 Channel Data Ch...

Страница 16: ...l is 6 bytes long with 4 bytes unused and reserved for other information and the other 2 bytes as 0x00 0xFF 5 1 4 MSOP Data Package The following Figure 8 shows the format of MSOP data packet and rele...

Страница 17: ...evice information including the device serial number firmware version driver compatibility internet setting calibration data electrical machine setting and operation status fault detection information...

Страница 18: ...sis FALT_DIGS 342 40 17 GPRMC 382 86 18 Corrected vertical angle 468 96 19 Corrected horizontal angle 564 96 20 Reserved 660 586 Tail 21 Tail 1246 2 Note The Header the DIFOP identifier in the table a...

Страница 19: ...rite time into the device through a computer or it will use a default system time for clock Refer to Part 2 Section 10 of this manual for details on Ethernet Time Motor Rotation Speed and Motor Phase...

Страница 20: ...iting in with part of the information will lead to invalid setting The function refreshes the moment the correspondent parameter is changed but the network parameters only take effect when the next in...

Страница 21: ...is 3 0V 15 0V If the GPS output you are using is RS232 serial protocol while the level of the LiDAR receiver is TTL then you need to purchase a module which converts RS232 level to TTL level For one e...

Страница 22: ...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 be...

Страница 23: ...e relative rotational position of multiple sensors based on the PPS signal and relative orientation To operate correctly the PPS signal must be present and locked Phase locking works by offsetting the...

Страница 24: ...is the angle offset of the azimuth x y z values are the projection of the polar coordinates on the XYZ Cartesian Coordinate System The angle csv file including and can be exported from RSView Please...

Страница 25: ...ta Table 9 Correspondence between Channel No and vertical Angle Channel No Vertical Angle Horizontal Offset Angle 1 89 5 0 2 81 0625 0 3 78 25 0 4 72 625 0 5 67 0 6 61 375 0 7 55 75 0 8 50 125 0 9 86...

Страница 26: ...21 RS Bpearl User Manual 31 7 9375 0 32 2 3125 0 Every sequence of 32 laser firings consumes 55 5us...

Страница 27: ...red object Hence the character can be used to distinguish the different materials RS Bpearl reports reflectivity values from 0 to 255 with 255 being the reported reflectivity for an ideal reflector Di...

Страница 28: ...s Check the RSVIEW Data Port setting Check the RSVIEW installation path and LiDAR configuration files path both do not contain any Chinese characters Check if the wireshark receive the MSOP packets Da...

Страница 29: ...ission must be calculated Therefore this time interval 2 charge time 2 recharge time wait time 2 4 00 us 2 1 20 us 4 16 us 14 56 us Table A 1 Time Offset for each Channel in single Return Mode In the...

Страница 30: ...e_index 1 2 56 mod data_index 1 16 1 28 floor data_index 1 16 Formal for Calculation of Time_offset from Channel 9 to channel 16 and from channel 25 to channel 32 Time_offset 55 52 sequence_index 1 2...

Страница 31: ...red return signals after all 32 laser emitting once Block 1 is the strongest return signal block 2 is the second strongest return signal Set the channel number data_index is 1 32 sequence_index is 1 1...

Страница 32: ...me_offset from Channel 9 to channel 16 and from channel 25 to channel 32 Time_offset 55 52 floor sequence_index 1 2 2 56 mod data_index 1 16 1 28 floor data_index 1 16 5 2 To calculate the exact point...

Страница 33: ...If set the value of rotation with other data the rotation speed of the motor is 0 B 2 Ethernet ETH Ethernet 26 bytes in total Byte No byte1 byte2 byte3 byte4 byte5 byte6 byte7 byte8 Function LIDAR_IP...

Страница 34: ...med to decimal B 4 Motor Phase Offset MOT_PHASE Motor Phase Offset 2bytes in total Byte No byte1 byte2 Function MOT_PHASE Register description It can be used to adjust the phase offset of the motor wi...

Страница 35: ...decimal number B 8 Software Version SOFTWARE_VER Software Version 2 bytes in total Byte No byte1 byte2 Function SOFTWARE_VER B 9 UTC Time UTC_TIME UTC Time 8 bytes in total Byte No byte1 byte2 byte3 b...

Страница 36: ...bit1 bit0 Function set_ms 7 0 Note set_ms 9 0 value 0 999 8 s reg name set_us Byte No bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8 Function reserve reserve reserve reserve reserve reserve us 9 8 Byte...

Страница 37: ...byte30 byte31 byte32 Function temperature5 internal debug r_rpm1 Byte No byte33 byte34 byte35 byte36 byte37 byte38 byte39 byte40 Function r_rpm2 internal debug Register description 1 chksum_st repres...

Страница 38: ...l 2_COR_VERT_ANG Channel 3_COR_VERT_ANG Byte No byte10 byte11 byte12 byte13 byte14 byte15 byte16 byte17 byte18 Function Channel 4_COR_VERT_ANG Channel 5_COR_VERT_ANG Channel 6_COR_VERT_ANG Byte No byt...

Страница 39: ...byte41 byte42 byte43 byte44 byte45 Function Channel 13_COR_HOR_ANG Channel 14_COR_HOR_ANG Channel 15_COR_HOR_ANG Byte No byte46 byte47 byte48 byte49 byte50 byte51 byte52 byte53 byte54 Function Channe...

Страница 40: ...RSView are shown as follow Online visualization of sensor data over Ethernet Record of real time data into pcap files Review of the collected point cloud from pcap files Different visualization mode b...

Страница 41: ...t configuration folder of RS Bpearl calibration is already contained and the folder is already chosen In Type of LiDAR the option RSBpearl should be chosen in Intensity Mode3 should be chosen Finally...

Страница 42: ...C 5 RSView Record Saving Dialog 3 Click Record Button will finish record and save the all recorded data into this pcap file C 6 Replay Recorded Sensor Data from PCAP Files In order to replaying or ex...

Страница 43: ...frame Fig C 8 Figure C 8 RSView Play Button and Scrub slide tool 5 In order to inspecting partial relevant point cloud data from a closer aspect please scrub to an interesting frame and click the Spre...

Страница 44: ...alues of them can be immediately shown in the table Fig C 13 Figure C 13 RSView Selected Points 9 Any selected point can be saved by doing File Save As Select Frames C 7 RS Bpearl Factory Firmware Par...

Страница 45: ...t LiDAR the Parameter will be set to what user needs the red marks in Figure C 15 are only an example it shows a possibility for parameter change Then wait 10 seconds restart RS Bpearl wait for device...

Страница 46: ...has been changed just like the description in section C 7 the new Data Port in RSView must be set and refreshed Otherwise the data won t be displayed If the MSOP Port and DIFOP Port in RS Bpearl are u...

Страница 47: ...vailable Figure C 19 select update firmware Figure C 20 Online Update successfully C 10 Troubleshooting by Fault Diagnosis Firstly need to check connectivity of RS Bpearl point cloud can be displayed...

Страница 48: ...43 RS Bpearl User Manual Figure C 21 Fault Diagnosis Dialogue...

Страница 49: ...been written in LiDAR If not use the configuration files by default in ROS Driver Meanwhile update the parameter in launch file This path of launch file can be customized 6 For example rslidar_pointcl...

Страница 50: ...msop_port default 6699 arg name difop_port default 7788 arg name lidar_param_path default find rslidar_pointcloud data rs_lidar_Bpearl node name rslidar_node pkg rslidar_driver type rslidar_node outpu...

Страница 51: ...pkg rviz type rviz args d find rslidar_pointcloud rviz_cfg rslidar rviz launch 2 Open a terminal run the node cd catkin_ws source devel setup bash roslaunch rslidar_pointcloud rs_lidar_Bpearl launch...

Страница 52: ...47 RS Bpearl User Manual Appendix E Dimension Figure E 1 Dimension Drawing of RS LiDAR Bpearl...

Страница 53: ...h The material of the mount platform is suggested to be aluminum alloy in order to thermolysis When the LiDAR is installed if there is a mounting contact surface on the upper and bottom sides of the L...

Страница 54: ...for RSView Connect LiDAR to PC and power supply to it Open wireshark software choose the corresponding Ethernet port start to capture packet from LiDAR sending Type filter condition data data 0 1 55...

Страница 55: ...dust use a clean microfiber cloth with a little isopropyl alcohol to clean the sensor directly then dry with another clean microfiber cloth If the sensor is caked with mud or bugs use a spray bottle w...

Страница 56: ...RS Bpearl User Manual...

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