RoboSense RS-Bpearl, Руководство пользователя

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RS-Bpearl User Manual
7.2 Phase Lock
When using multiple RS-Bpearl sensors in proximity to one another, users may observe
interference between them due to one sensor picking up a reflection intended for another.
To minimize this interference, RS-Bpearl provides a phase-locking feature that enables
the user to control where the lase firings overlap.
The Phase Lock feature can be used to synchronize the 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 rising
edge of the PPS signal.
Figure 9: Different phase lock angles 0°/135°/270°.
The red arrows in Figure 9 above indicate the firing direction of the sensor’s laser the
moment it receives the rising edge of the PPS signal.
In the Tools > RS-LiDAR Information of RSVIEW, we can set the Phase Lock angle from 0
to 359.
Only if the rotate speed is set to 600 rpm / 1200 rpm, the function of phase lock can be
worked.