RoboSense LiDAR RS-Bpearl User manual

RS-Bpearl User manual

RS-Bpearl User manual
II
Revision History
Issue
Modifications
Release Date
Edited by
1.0
Original issue
2019-8-14
PD
2.0
Updated product appearance image
Updated product mechanical dimensions
Updated sensor power consumption
Updated use instructions of RSView in Apendix C
Updated Appendix A
Added footnotes to product specifications
Updated the information in the table of Laser Channels
and Vertical Angles
2019-12-11
PD
2.0.1
Updated product mechanical dimensions drawing in
Appendix E
Corrected some minor description errors
Changed product name to RS-Bpearl
2020-2-18
PD
3.0.0
Added network timing function
Added function to the LiDAR WEB Interface
Added description of shifting LiDAR configuration
interface to the WEB Interface
Updated Appendix A
Updated the DIFOP protocol
Updated sensor driver description
Added anticlockwise rotation function to the LiDAR
motor rotation direction.
2021-12-17
PD

RS-Bpearl User manual
III
Terminologies
MSOP
Main data Stream Output Protocol
DIFOP
Device Info Output Protocol
FOV
Field Of View
PTP
Precision Time Protocol
GPS
Global Positioning System
UTC
Universal Time Coordinated
Protocol
Protocol version number, 00 represents old version, 01
represents the latest version
Wave_mode
Echo flag
Temp
LiDAR temperature information
Resv
Reserved data flag
UCWP
User Configuration Write Protocol
Azimuth
LiDAR horizontal rotation angle
Timestamp
Time stamp which is used to record system time
Header
Frame header in protocol packet
Tail
Frame tail in protocol packet

RS-Bpearl User manual
IV
Contents
1. Safety Notices.................................................................................................................................7
2. Product Appearance and Interface.............................................................................................. 8
2.1. Product Appearance...........................................................................................................8
2.2. Aviation Plug and Pin Definition.......................................................................................8
2.3. Interface Box....................................................................................................................... 9
3. Unboxing & Installation.............................................................................................................. 11
3.1. Standard Package............................................................................................................. 11
3.2. Sensor Mounting.............................................................................................................. 11
3.3. Quick Connection............................................................................................................. 12
4. Sensor Specifications and Features........................................................................................... 14
4.1. Sensor Specification.........................................................................................................14
4.2. Point Cloud Display.......................................................................................................... 15
4.2.1. Coordinate Mapping............................................................................................. 15
4.3. Reflectivity........................................................................................................................ 16
4.4. Laser Return Modes......................................................................................................... 17
4.4.1. Principle of Laser Return Modes......................................................................... 17
4.4.2. Return Mode Flag..................................................................................................17
4.5. Phase Locking................................................................................................................... 18
4.6. Time Synchronization......................................................................................................18
4.6.1. GPS Time Synchronization................................................................................... 19
4.6.2. The Use of GPS for Time Synchronization.......................................................... 19
4.6.3. PTP Time Synchronization...................................................................................20
4.6.4. PTP Wiring Diagram (Valid for RS-Bpearl 3.0).................................................. 20
4.6.5. Time Calculation....................................................................................................21
5. Communication Protocols.......................................................................................................... 23
5.1. MSOP and DIFOP.............................................................................................................. 23
5.2. Main Data Stream Output Protocol（MSOP）.............................................................. 25
5.2.1. Header....................................................................................................................25
5.2.2. Data Blocks............................................................................................................ 27
5.2.3. Tail.......................................................................................................................... 29
5.3. Device Info Output Protocol（DIFOP）.........................................................................29
5.4. User Configuration Write Protocol (UCWP）................................................................33
6. Vertical Angles and Exact Point Time Calculation....................................................................36
6.1. Channel Number and Vertical Angles.............................................................................36
6.2. Exact Point Time Calculation.......................................................................................... 36
6.2.1. Exact Point Time Calculation in Single Return Mode........................................ 36
6.2.2 Exact Point Time Calculation in Dual Return Mode................................................ 38
7. Trouble Shooting......................................................................................................................... 40
Appendix A Web Interface................................................................................................................ 42
A.1 Device Information Screen................................................................................................. 42
A.2 Device Parameter Setting Screen....................................................................................... 43
A.3 Device Diagnostics/Operation Status Screen.....................................................................44
A.4 Device/System Update Screen........................................................................................... 45

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V
Appendix B Information Registers.................................................................................................... 48
B.1 Motor Speed (MOT_SPD)................................................................................................... 48
B.2 Ethernet(ETH)..................................................................................................................... 48
B.3 FOV Setting(FOV_SET)........................................................................................................ 49
B.4 TCP MSOP Port Number..................................................................................................... 49
B.5 Motor Phase Offset(MOT_PHASE)..................................................................................... 49
B.5 Top Board Firmware Version(TOP_FRM)............................................................................50
B.6 Bottom Board Firmware Version(BOT_FRM)..................................................................... 50
B.7 Software Version(SOF_FRM).............................................................................................. 51
B.8 Motor Firmware Version(MOT_FRM).................................................................................51
B.9 Time Synchronization(TIMESTAMP_VER）........................................................................51
B.10 UTC Time(UTC_TIME)....................................................................................................... 52
B.11 Operation Status(STATUS).................................................................................................54
B.11.1 Operation Status (valid for RS-Bpearl 2.0)............................................................ 54
B.11.2 Operation Status (valid for RS-Bpearl 3.0)............................................................ 55
B.12 Fault Diagnosis (FALT_DIGS)............................................................................................. 56
B.12.1 Fault Diagnosis(valid for RS-Bpearl 2.0)................................................................ 56
B.12.2 Fault Diagnosis(valid for RS-Bpearl 3.0)................................................................ 58
B.13 ASCII Code in GPRMC Packet............................................................................................60
B.14 Corrected Vertical Angle(COR_VERT_ANG)......................................................................60
B.15 Corrected Horizontal Angle(COR_HOR_ANG)............................................................... 62
Appendix C RSView........................................................................................................................... 64
C.1 Software Features...............................................................................................................64
C.2 Install RSView......................................................................................................................64
C.3 Set Up Network...................................................................................................................64
C.4 Visualize Streaming Sensor Data........................................................................................ 65
C.5 Capture Streaming Sensor Data to PCAP File.....................................................................66
C.6 Replay Captured Sensor Data from PCAP File.................................................................... 67
C.7 Configure LiDAR Parameters with RSView......................................................................... 70
C.8 Online Firmware Update with RSView............................................................................... 72
C.10 Fault Diagnosis with RSView.............................................................................................73
Appendix D RS-Bpearl ROS&ROS2 Package......................................................................................75
D.1 Install Software...................................................................................................................75
D.2 Download & Compile RoboSense LiDAR Driver Package................................................... 75
D.3 Configure PC IP................................................................................................................... 76
D.4 Real Time Display................................................................................................................76
D.5 View Offline Data................................................................................................................77
Appendix E Mechanical Drawings.....................................................................................................79
Appendix F Sensor Mounting........................................................................................................... 80
Appendix G Obtain MSOP and DIFOP Port Number from Data Packets.......................................... 81
Appemdix H Sensor Cleaning............................................................................................................82
H.1 Attention.............................................................................................................................82
H.2 Required Materials............................................................................................................. 82
H.3 Cleaning Method................................................................................................................ 82

RS-Bpearl User manual
VI
1. Manufacturer Information
Suteng Innovation Technology Co., Ltd. (RoboSense)
Buliding 9, Block 2, Zhongguan Honghualing Industry Southern District, 1213 Liuxian Avenue,
Taoyuan Street, Nanshan District, Shenzhen, China
Landline: 0755-86325830
Mobile Phone: [phone](Marketing & Sales)
Email: [e-mail]
Working hours from Monday to Friday 09:00-18:00(GMT/UTC +8)
2. Disclaimer of Liability
This manual is protected by copyright. Any rights arising from this copyright are owned by
RoboSense. Reproduction of this manual or part of the manual is only permitted within the legal
scope of the copyright law. Without obtaining any authorization, this document shall not be
abridged or translated. The trademarks mentioned in this document are the property of their
respective owners. RoboSense reserves all rights.
3. Certifications
特别说明：
This manual is updated from time to time without prior notice, to get the latest version, please
visit RoboSense company website to download or contact the RoboSense Technical Support or
Sales.

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1. Safety Notices
To avoid risks of accidents, damage to sensor or violating of your product warranty, please read
and follow the instructions in this manual carefully before operating the product.
Laser Safety
This product meets the following standards for laser products:
IEC 60825-1:2014;
Sensor Overheating Sign
Please pay attention to the overheating sign on the LiDAR surface to avoid a hot LiDAR surface
that may lead to sensor failure or undesirable consequences.
Read Instructions – Please reading all instructions on sensor operation and use
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.
Servicing – Except for what’s described in this manual, the sensor has no field serviceable
parts. For servicing, please contact RoboSense sales or the authorized distributors.

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2. Product Appearance and Interface
2.1. Product Appearance
Figure 2-1 LiDAR Coordinates and Rotation Direction
2.2. Aviation Plug and Pin Definition
The data output access of the RS-Bpearl is physically protected by an aviation plug. From the
LiDAR to the aviation plug the cable length is 1 meter. The pins of the aviation plug are defined as
follows:
Figure 2-2 RS-Bpearl Aviation Plug
Table 2-1 Definition of Pins of Aviation Plug of RS-Bpearl
Pin
Wire Color
Function
1
Red
+12V
2
Yellow
+12V
3
White
GROUND
4
Black
GROUND

RS-Bpearl User manual
9
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-
2.3. Interface Box
Your RS-Bpearl comes with an Interface Box, which has 2 LED lights and provides convenient
connections to power, RJ45 Ethernet, and GPS. (The length of the integrated cable attached to
the Interface Box of the aviation plug version LiDAR is 3 meters, for other cable lengths, please
contact RoboSense technical support).
Figure 2-3 Definition of Interface Box Ports
Specifications of Interface Box ports:
Table 2-2 Interface Box Port Specification
No.
Port
Specification
1
Power Input
Standard DC 5.5-2.1 connector
2
Network
Standard RJ45 Ethernet connector
3
GPS timing
SH1.0-6P Female connector
1.1.1 Power
The power supply interface of the RS-Bpearl on the Interface Box is a standard DC 5.5-2.1
1
2
3

RS-Bpearl User manual
10
connector.
There are 2 LEDs (power indicators) on the Interface Box: when the power input is normal, the
red LED is on, the green LED is always on by default. When the red LED is off, the Interface BOX
enters the protection state. If either LED (when connected to GPS) is off, please check whether
the power input is normal; If the power input is normal, the Interface BOX may be damaged.
Please contact your technical support or account manager at RoboSense.
1.1.2 RJ45 Ethernet Port
The network interface on the Interface Box follows the EIA/TIA568 standard.
1.1.3 GPS Time Synchronization
GPS REC receives GPS UART standard input; GPS PULSE receives GPS PPS input.
The definitions of pins of the GPS port are detailed in the figure below:
Table 2-3 GPS Port Definition
Pin No.
function
1
GPS_PULSE
2
+5V
3
GND
4
GPS_REC
5
GND
6
NC
Note: When the "ground" of RS-Bpearls is connected to an external system, the negative polarity ("ground") of
the external system and the "ground" of the GPS system must share a non-isolated common ground.