RoboSense RS-Bpearl User manual

RS-Bpearl User Manual

RS-Bpearl User Manual
I
Revision History
Revision Number
Description
Date
Edited by
1.0
Initial release
2019-08-14
PD
2.0
Update 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 and vertical angle
2019-12-11
PD
2.0.1
Update dimension drawing in Appendix E
Modify some not precise description
2020-02-18
PD

RS-Bpearl User Manual
II
Terminology
MSOP
Main data 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 Header of a UDP packet
Tail
The Tail of a UDP packet

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

RS-Bpearl User Manual
IV
B.5 Top Board Firmware (TOP_FRM).................................................................................29
B.6 Bottom Board Firmware (BOT_FRM).......................................................................... 30
B.7 Serial Number(SN)..........................................................................................................30
B.8 Software Version(SOFTWARE_VER)......................................................................... 30
B.9 UTC Time(UTC_TIME)................................................................................................... 30
B.10 STATUS.......................................................................................................................... 31
B.11 Fault Diagnosis.............................................................................................................. 32
B.12 ASCII code in GPRMC Packet................................................................................... 33
B.13 Corrected Vertical Angle (COR_VERT_ANG)..........................................................33
B.14 Corrected Horizontal Offset Angle (COR_HOR_ANG)...........................................34
Appendix C RSView....................................................................................................................... 35
C.1 Software Features...........................................................................................................35
C.2 Installation of RSView.................................................................................................... 35
C.3 Network Setup................................................................................................................. 35
C.4 Visualization of point cloud............................................................................................ 35
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 Update Online................................................................................................ 41
C.10 Troubleshooting by Fault Diagnosis.......................................................................... 42
Appendix D RS-Bpearl ROS Package........................................................................................44
D.1 Software Installation....................................................................................................... 44
D.2 Compile RS-Bpearl ROS Package.............................................................................. 44
D.3 Configure PC IP address............................................................................................... 44
D.4 Display of the real-time data......................................................................................... 44
D.5 Offline Display the recorded PCAP File...................................................................... 45
Appendix E Dimension.................................................................................................................. 47
Appendix F Suggestion of Mechanical LiDAR Mount.............................................................. 48
Appendix G Seek MSOP and DIFOP Port Number..................................................................49
Appendix H Clean of LiDAR......................................................................................................... 50
H.1 Attention............................................................................................................................ 50
H.2 Required Materials.......................................................................................................... 50
H.3 Clean Method................................................................................................................... 50

1
RS-Bpearl User Manual
Congratulations on your purchase of a RS-Bpearl Real-Time 3D LiDAR Sensor. Please
read carefully before operating the product. Wish you have a pleasurable product
experience with RS-Bpearl.
1. Safety Notice
In order to reduce the risk of electric shock and to avoid violating the warranty, do not
open sensor housing.
Laser safety - The laser safety complies 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.
Retain Instructions - The safety and operating instructions should be retained for
future reference.
Heed Warnings - All warnings on the product and in the operating instructions should
be adhered to.
Maintenance - The user should not attempt to maintain the product beyond what is
described in the operating instructions. All other Maintenance should be referred to
RoboSense.

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RS-Bpearl User Manual
2. Introduction
RS-Bpearl, the close-range LiDAR developed by RoboSense, is the world leading LiDAR
for monitoring blind spot. It is particular utilized in and perception of environment for
autonomous driving.
RS-Bpearl is realized by solid-state hybrid LiDAR. The technical details are listed below:
Minimum measuring range: 10 cm
Accuracy: within up to ± 2 centimeter
Data rate up to 576,000 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-Bpearl;
Parsing the data packets, in order to capturing the values of azimuth, measuring
distance and calibrated reflectivity;
Calculate X, Y, Z coordinates from reported azimuth, measured distance, and vertical
angle;
Storing the data of point cloud according to demand;
Checking the status of set-up information of device;
Resetting the status of network configuration, timing and rotation speed according to
demand.

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RS-Bpearl User Manual
3. Product Specifications1
Table 1: Product Parameters.
Sensor
 TOF measuring distance, including the reflectivity
 Range: from 0.1 m to 30m (Reflectivity: 10%)2
 Accuracy: ±3cm (typical value)3
 FOV(vertical): 90°
 FOV (horizontal): 360°
 Angle resolution (horizontal/ azimuth): 0.2° (10 Hz)/0.4° (20 Hz)
 Rotation speed: 600/1200 rpm (corresponding to 10/20 Hz)
Laser
 Class 1
 Wave length: 905nm
 Full angle of beam divergence: horizontal 9 mrad, vertical 17.8 mrad
Output
 Date rate: ~600k points/second
 100M Ethernet
 Communication protocol: UDP
 The Information that is included in Dates Segment:
Distance
Rotation angle/Azimuth Calibrated
reflectivity
Synchronized timestamp (Timer resolution 1 us)
Mechanical/
Electrical/
Operational
 Power consumption: 13 W(typical)4
 Working voltage: 9-32 VDC
 Weight: 0.92 kg (without cable)
 Dimensions: Diameter 100 mm × Height 111 mm
 Ingress Protection Rating: IP67
 Operation temperature: -30 ℃~+60 ℃5
 Storage temperature: -40 ℃~+85 ℃
1The following data is only for mass-produced products. Any sample, testing machine and other
non-mass-produced versions may not be referred to this specification. If you have any questions, please
contact RoboSense sales.
2The measurement target of range is a 10% NIST Diffuse Reflectance Calibration Targets, the test
performance is depending on circumstance factors, not only temperature, range and reflectivity but also
including other uncontrollable factors.
3The measurement target of accuracy is a 50% NIST Diffuse Reflectance Calibration Targets, the test
performance is depending on circumstance factors, not only temperature, range and reflectivity but also
including other uncontrollable factors.
4The test performance of power consumption is depending on circumstance factors, not only
temperature, range and reflectivity but also including other uncontrollable factors.
5Device operating temperature is depending on circumstance, including but not limited to ambient
lighting, air flow and pressure etc.

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RS-Bpearl User Manual
4. Interface
4.1 Power Supply
A voltage transform module is already integrated in RS-Bpearl. The supply voltage could
keep in the range of 9~32 VDC with utilization of Interface-Box. The recommend supply
voltage is 12 VDC. The operating power consumption is about 13 W (typical).
4.2 Data Output interface of LiDAR
The data output access of RS-Bpearl is physically protected by an aviation terminal
connector. From the LiDAR to the aviation connector the cable length is 1 meter. The pins
of the aviation terminal connector are defined as follow:
PIN
Wire Color
Function
1
Red
+12V
2
Yellow
+12V
3
White
GROUND
4
Black
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 Number.
4.3 Interface Box
In order to connect the RS-Bpearl conveniently, there is an interface box provided.
There are accesses for power supply, Ethernet and GPS on Interface Box. Meanwhile
there are also indicator LEDs for checking the status of power supply.
For those accesses, an SH1.0-6P female connector is the interface for GPS signal input.
Another interface is a DC 5.5~2.1 connector for power input. The last one is a Rj45
Ethernet connector for RS-Bpearl data transport. The length of the integral cable is 3 m,
when the cable length needs to be shorten or extended, please contact RoboSense
technical support, as shown in Figure 3.

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RS-Bpearl User Manual
PIN
Function
1
GPS PULSE
2
+5V
3
GND
4
GPS REC
5
GND
6
NC
Figure 3: Interface Definition Interface Box.
Note: When RS-Bpearl connects its grounding system with an external system, the
external power supply system should share the same grounding system with that of the
GPS.
When the power input is in order, the red LED which indicates the power input status will
be lighted. 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 status. While red and green LEDs are all dark, please check
whether the power supply is out of order or damaged. If it is intact, that could prove that
the Interface Box is damaged. Please send the damaged Interface Box back to
RoboSense 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.