RoboSense RS-Bpearl - Table of Contents

RS-Bpearl User Manual
III
TABLE of CONTENT
Revision History
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I
Terminology
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II
1. Safety Notice
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1
2. Introduction
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2
3. Product Specifications
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3
4. Interface
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4
4.1 Power Supply
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4
4.2 Data Output interface of LiDAR
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4
2.3 Interface Box
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4
2.4 Connection of Interface Box
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6
5. Communication Protocol
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7
5.1 MSOP
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7
5.1.1 Header
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9
5.1.2 Data Field
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10
5.1.3 Tail
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11
5.1.4 MSOP Data Package
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11
5.2DIFOP
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12
5.3UCWP
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13
6. GPS Synchronization
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16
6.1 GPS Synchronization Theory
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16
6.2 GPS Usage
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16
7. Key Characteristic
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17
7.1 Return Mode
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17
7.1.1 Return Mode Principle
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17
7.1.1The Strongest Return
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17
7.1.2Strongest, Last and Dual Returns
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17
7.1.3Return Mode Flag
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17
7.2 Phase Lock
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18
8. Point Cloud
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19
8.1 Coordinating Mapping
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19
9. Definition of Vertical Angles
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20
10. Reflectivity
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22
11. Troubleshooting
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23
Appendix A Point Time Calculate
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24
A.1 RS-Bpearl Calculation of time stamp in single mode
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24
A.2 RS-Bpearl Calculation of time stamp in dual mode
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26
Appendix B Information Registers
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28
B.1 Motor(MOT_SPD)
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28
B.2 Ethernet(ETH)
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28
B.3 FOV Setting (FOV SET)
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29
B.4 Motor Phase Offset (MOT_PHASE)
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29