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RS-Ruby Users’ Manual

12

6 GPS Synchronization

RS-Ruby supports external GPS receiver connections. With GPS connections, we can
synchronize the RS-Ruby system time to GPS global time.

6.1 Principle of GPS synchronization

The GPS receiver keeps generating synchronization Pulse Per Second (PPS) signal and
GPRMC message and send them to the sensor. The pulse width of the PPS should
between 20ms to 200ms, and the GPRMC message should be received within 500ms
after the PPS signal is generated.

6.2 GPS Usage

GPS_REC receives the signal from GPS module with Standard serial RS232
communication protocol.
GPS PULSE receives the PPS from the GPS module and requests voltage between 3.0 V
~ 15.0 V.
PIN +5V of GPS interface can supply power to GPS module. (If GPS module is only
allowed to use +3V as power supply, please don’t use this +5V PIN on Interface Box.
Please exchange the +5V to +3V)
PIN GND is connected to the GPS receives ground wire.
The GPS module should set to 9600bps baud rate, 8-bit data bit, no parity and 1 stop bit.
RS-LiDAR-Ruby only read the GPRMC message from GPS module., the GPSMRC
message format is shown as below:
$GPRMC, <1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>,<9>,<10>,<11>,<12>*hh
<1>UTC time
<2>validity-A-ok, V-invalid
<3>Latitude
<4>North/South
<5>Longitude
<6>East/West
<7>Ground Speed
<8>True course
<9>UTC date
<10>Variation
<11>East/West
<12>Mode(A/D/E/N=)
*hh checksum from $ to*
The different GPS module could send out different GPRMC message length, the RS-Ruby
could be compatible with the most GPS modules on the market. Please contact
RoboSense of technical support when it is incompatible.

Содержание RS-Ruby

Страница 1: ...RS Ruby Users Manual 1...

Страница 2: ...RS Ruby Users Manual Revision History Revision Number Description Date Edited by 1 0 Initial release 2019 11 20 PD...

Страница 3: ...n data Stream Output Protocol FOV Field of View Azimuth Horizontal Angle of LiDAR Timestamp Time Point of Encapsulation of a UDP Packet Header The Header of a UDP Packet Tail The Tail of a UDP Packet...

Страница 4: ...14 8 1 Coordinating Mapping 14 8 2 Laser Channel in spatial Distribution 15 9 Reflectivity 19 10 Troubleshooting 20 Appendix A the Format of all Register 22 A 1 UTC_TIME 22 Appendix B RSView 24 B 1 S...

Страница 5: ...RS Ruby Users Manual Appendix F Clean of LiDAR 35 F 1 Attention 35 F 2 Required Materials 35 F 3 Clean Method 35...

Страница 6: ...s 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 followed...

Страница 7: ...LiDAR by rapidly spinning optical module Advanced digital signal processing and ranging algorithms calculate point cloud data and reflectivity of objects to enable the machine to see the world and to...

Страница 8: ...ght 148 5mm Ingress Protection Rating IP67 Operation temperature 40 60 5 Storage temperature 40 85 1 The following data is only for mass produced products Any samples testing machines and other non ma...

Страница 9: ...on 1 Black Brown GROUND 2 Black Gigabit network differential signal 3 Brown Gigabit network differential signal 4 Black Green GROUND 5 Red Gigabit network differential signal 6 Orange Gigabit network...

Страница 10: ...ransport PIN No function 1 GPS_PULSE 2 5V 3 GND 4 GPS_REC 5 GND 6 NC Figure 3 Interface Definition of Interface Box Note When RS Ruby connects its grounding system with an external system the external...

Страница 11: ...Service GPS interface definition GPS REC stands for GPS input GPS PULSE stands for GPS PPS input Interface of power supply is standard DC 5 5 2 1 connector 4 4 Connection of Interface Box Figure 4 Dia...

Страница 12: ...lease set the subnet mask as 0 0 0 0 connect the sensor to the computer and capture UDP packet to get the information of IP and Port through Wireshark The output message from RS Ruby is called MSOP Th...

Страница 13: ...er 4 bit is used to representing the return mode of the LiDAR for instance 00000011 stands for that first and second return mode is chosen 00000001 stands for that first return mode is chosen 00000010...

Страница 14: ...completely explained Channel data the length of each channel data is 3 bytes each block includes 128 channel data further details could be seen in Table 6 The relationship between the number of chann...

Страница 15: ...ce 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...

Страница 16: ...x08 combine the byte 0x084b get atten 0x08 get distance 0x084b combine the byte 0x08 convert to decimal 2123 convert to decimal 8 multiply by 0 5cm result 8 result 10 615m Header 0x55 0xaa 0x05 0x5a D...

Страница 17: ...V 15 0 V PIN 5V of GPS interface can supply power to GPS module If GPS module is only allowed to use 3V as power supply please don t use this 5V PIN on Interface Box Please exchange the 5V to 3V PIN G...

Страница 18: ...if the setting is the last return mode only the last return signal can be used to calculate distance 7 2 Phase Lock The Phase Lock feature can be used to make the sensor rotating to the specific posit...

Страница 19: ...d at the beginning of every other firing sequence 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 value of and de...

Страница 20: ...l number of laser channel and corresponding horizontal angles Channel No Vertical Angle Horizontal Offset Angle 1 13 565 5 95 2 1 09 4 25 3 4 39 2 55 4 1 91 0 85 5 6 65 5 95 6 0 29 4 25 7 3 59 2 55 8...

Страница 21: ...4 6 09 0 85 45 1 41 5 95 46 1 89 4 25 47 5 46 2 55 48 5 29 0 85 49 2 21 5 95 50 16 042 4 25 51 1 19 2 55 52 4 49 0 85 53 3 01 5 95 54 6 85 4 25 55 0 39 2 55 56 3 69 0 85 57 3 81 5 95 58 5 89 4 25 59 0...

Страница 22: ...346 4 25 84 0 89 5 95 85 2 99 0 85 86 3 31 2 55 87 6 39 4 25 88 0 09 5 95 89 2 19 0 85 90 4 41 2 55 91 5 59 4 25 92 0 71 5 95 93 1 39 0 85 94 11 5 2 55 95 4 79 4 25 96 1 51 5 95 97 0 59 0 85 98 3 89...

Страница 23: ...12 4 89 5 95 113 2 61 0 85 114 9 244 2 55 115 0 79 4 25 116 4 09 5 95 117 3 41 0 85 118 6 29 2 55 119 0 01 4 25 120 3 29 5 95 121 4 71 0 85 122 5 49 2 55 123 0 81 4 25 124 2 49 5 95 125 15 0 85 126 4...

Страница 24: ...or an ideal reflector Diffuse reflection reports values from 0 to 100 with the weakest reflectivity reported from black objects and strongest reflectivity reported from white object Retro reflector re...

Страница 25: ...ify the power connection and polarity Verify the power supply satisfy the requirement at least 4A 19V Check if the LiDAR mounting plane is level or if the LiDAR bottom fixing screws are too tight Unit...

Страница 26: ...1 stop bit Check the signal level is RS232 level Check electrical continuity of PPS and serial wiring Check incorrect construction of NMEA sentence Check the GPS and Interface BOX are connected to th...

Страница 27: ...2 month set_month Byte No bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 Function reserve reserve reserve reserve set_month 3 0 1 12 month 3 day set_day Byte No bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 Funct...

Страница 28: ...e reserve ms 9 8 Byte No bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 Function set_ms 7 0 Note set_ms 9 0 value 0 999 8 s set_us Byte No bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8 Function reserve reser...

Страница 29: ...ew 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 based...

Страница 30: ...shows up In this dialogue box the default configuration folder of RS Ruby calibration is already contained and the folder is already chosen If there is chaos while display in RSView please check and a...

Страница 31: ...File the save path and file name of pcap file can be set up Fig B 5 After clicking save button RSView begins writing data into pcap file Note RS Ruby will generate enormous measuring data So it is bes...

Страница 32: ...igure B 6 RSView Open Capture File 2 In dialogue box Open File please import a recorded pcap file then click open O button Figure B 7 Select the PCAP File 3 In dialogue box Sensor Configuration please...

Страница 33: ...lick Show only selected elements in spreadsheet can acquire corresponding data certainly there is no data shown in table if no one point is selected Fig B 11 Figure B 11 RSView Show Only Selected Elem...

Страница 34: ...RS Ruby Users Manual 29 Figure B 13 RSView Selected Points 10 Any selected point can be saved by doing File Save As Select Frames...

Страница 35: ...ing LiDAR into PC from USB stick The configuration_data is in the USB stick shipped with the LiDAR Copy the launch file into specified folder This path can be customized For example rslidar_pointcloud...

Страница 36: ...p_port default 6699 arg name lidar_param_path default find rslidar_pointcloud data rs_ruby node name rslidar_node pkg rslidar_driver type rslidar_node output screen param name model value arg model pa...

Страница 37: ...RS Ruby Users Manual 32 2 Open a terminal run the node cd catkin_ws source devel setup bash roslaunch rslidar_pointcloud rs_ruby launch 3 This step is same as step 3 in chapter C 4...

Страница 38: ...RS Ruby Users Manual 33 Appendix D Dimension Figure D 1 Dimension of Ruby...

Страница 39: ...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 LiDAR make sure that the spacing between the mounting surfaces is...

Страница 40: ...ust 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 wi...

Страница 41: ...RS Ruby Users Manual 36...

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