RoboSense RS-Bpearl User Manual
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RoboSense RS-Bpearl User Manual

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Summary of Contents for RoboSense RS-Bpearl

  • Page 1 RS-Bpearl User Manual...

  • Page 2: Revision History

    RS-Bpearl User Manual Revision History Revision Number Description Date Edited by Initial release 2019-08-14 Update Figure 2019-12-11 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 2.0.1...
  • Page 3 RS-Bpearl User Manual 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...

  • Page 4: Table Of Contents

    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)........................
  • Page 5 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...

  • Page 6: Safety Notice

    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.

  • Page 7: 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 ...

  • Page 8: Product Specifications

    RS-Bpearl User Manual 3. Product Specifications Table 1: Product Parameters. TOF measuring distance, including the reflectivity  Range: from 0.1 m to 30m (Reflectivity: 10%)  Accuracy: ±3cm (typical value)  Sensor FOV(vertical): 90°  FOV (horizontal): 360°  Angle resolution (horizontal/ azimuth): 0.2° (10 Hz)/0.4° (20 Hz) ...

  • Page 9: Interface

    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...
  • Page 10 GPS PULSE GPS REC 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.

  • Page 11: Connection Of Interface Box

    RS-Bpearl User Manual 4.4 Connection of Interface Box Figure 4: Diagram of Interface Box Connection.

  • Page 12: Communication Protocol

    User Guide, The UDP protocol packet in this manual is of 1290 byte long and consists of a 1248-byte valid payload and a 42-byte header. The IP address and port number of RS-Bpearl is set in the factory as shown in the Table 2, but can be changed by the user as needed.
  • Page 13 RS-Bpearl User Manual Figure 5: Single Return MSOP.

  • Page 14: Header

    RS-Bpearl User Manual The basic data structure of a MSOP packet for dual return is as shown in Figure 6. First return Second return Figure 6: Dual Return MSOP. 5.1.1 Header The 42-byte Header marks the beginning of data blocks.

  • Page 15: Data Field

    The reported azimuth is associated with the first laser firing in each sequence of laser firings. The Azimuth Value is recorded by the encoder. The zero position on the encoder indicates the zero degree of azimuth value on RS-Bpearl. The resolution of Azimuth is 0.01°.

  • Page 16: Tail

    RS-Bpearl User Manual 5.1.3 Tail The tail is 6 bytes long, with 4 bytes unused and reserved for other information, and the other 2 bytes as: 0x00, 0xFF. 5.1.4 MSOP Data Package The following Figure 8 shows the format of MSOP data packet and relevant parsing processes.

  • Page 17: Difop

    RS-Bpearl User Manual Figure 8: Details of MSOP Packet. 5.2 DIFOP DIFOP is abbreviation of Device Info Output Protocol. I/O type：device output, computer read. Default port number is 7788. DIFOP is a protocol that reports and outputs only device information including the device serial number, firmware version, driver compatibility, internet setting, calibration data, electrical machine setting and operation status, fault detection information to users.

  • Page 18: Ucwp

    RS-Bpearl User Manual Table 5: DIFOP Packet Definition. Segment Information Offset Length/byte Header DIFOP header Motor rotation speed (MOT_SPD) Ethernet (ETH) FOV setting Reserved Motor phase lock (MOT_PHASE) Top board firmware version (TOP_FRM) Bottom board firmware version (BOT_FRM) Reserved Serial number (SN)
  • Page 19 0x22, 0x22, 0xAA, 0xAA, among which, the first 4 bytes 0xAA, 0x00, 0xFF, 0x11 forms the sequence to identify the packet. Statement: RS-Bpearl doesn’t RTC system to support operation while power is off. In the case of no GPS or GPS signal, it is imperative to write time into the device through a computer, or it will use a default system time for clock.
  • Page 20 RSVIEW provides the configuration UI, so we suggest to use RSVIEW to configure the RS-Bpearl. When performing the parameter writing process, please keep the power connection for LiDAR and make sure the parameter writing is done when we want to...

  • Page 21: Gps Synchronization

    PPS signal is generated. 6.2 GPS Usage There is only one level protocol for RS-Bpearl GPS_REC pins: RS232 level standard The GPS interface on the Interface BOX is SH1.0-6P female connector, the pin definition is as shown in Figure 3.

  • Page 22: Key Characteristic

    7.1.3Return Mode Flag The factory default setting for RS-Bpearl is the Strongest Return mode. If you need to change the settings, please refer to Figure C-14 in Appendix C of this user manual. The 300th Byte in the DIFOP is the flag of the return mode, which corresponds to the following: Table 8: Interchange between Return Mode and Flag Position.

  • Page 23: Phase Lock

    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.

  • Page 24: Point Cloud

    Appendix B.13 and B.14. Figure 10: Coordinate system mapping between polar system and XYZ system. Note 1: In the RS-Bpearl ROS package, the coordinate system must be transferred to the ROS right-hand Coordinate system. The ROS-X axis is co-axis with the Y-axis and with same direction as Figure 10.

  • Page 25: Definition Of Vertical Angles

    RS-Bpearl User Manual 9. Definition of Vertical Angles RS-Bpearl has a vertical field of view of 90° with a non-uniform distribution. The 32 laser heads also called as 32 channels. The calibrated vertical angle and horizontal angle offset can be found in DIFOP data.
  • Page 26 RS-Bpearl User Manual 7.9375 2.3125 Every sequence of 32 laser firings consumes 55.5us.

  • Page 27: Reflectivity

    Hence, the character can be used to distinguish the different materials. RS-Bpearl reports reflectivity values from 0 to 255 with 255 being the reported reflectivity for 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.

  • Page 28: Troubleshooting

    RS-Bpearl User Manual 11.Troubleshooting This section provides detail on how to troubleshoot your sensor. Problem Resolution Interface BOX red LED doesn’t Verify the power connection and polarity  light or blink Verify the power supply satisfy the requirement (at least 3A @ 12V) ...

  • Page 29: Appendix A Point Time Calculate

    RS-Bpearl User Manual Appendix A Point Time Calculate A.1 RS-Bpearl Calculation of time stamp in single mode In each MSOP packet, there are 12 blocks, each block has one sequence for the whole 32 laser firings, so in a MSOP packet, there are 12 groups for the whole 32 laser firings. At every firing moment, there are two laser firing together, all 32 lasers are fired and recharged every 55.52 µs.
  • Page 30 RS-Bpearl User Manual Time_offset is: Formal for Calculation of Time_offset from Channel 1 to channel 8 and from channel 17 to channel 24: Time_offset = 55.52 * (sequence_index - 1) + 2.56 * mod((data_index – 1) , 16) + 1.28 *...

  • Page 31: Rs-Bpearl Calculation Of Time Stamp In Dual Mode

    RS-Bpearl User Manual A.2 RS-Bpearl Calculation of time stamp in dual mode In dual mode, for each MSOP packet, there are 12 blocks. Each two block has one sequence for the whole 32 laser firings, e.g. Block 1 and Block 2 are two captured return signals after all 32 laser emitting once, Block 1 is the strongest return signal, block 2 is the second strongest return signal.
  • Page 32 RS-Bpearl User Manual Time_offset is: Formal for Calculation of Time_offset from Channel 1 to channel 8 and from channel 17 to channel 24: Time_offset = 55.52 * (floor ((sequence_index - 1) /2)) + 2.56 * mod((data_index – 1) , 16) + 1.28 * floor((data_index-1) / 16)

  • Page 33: Appendix B Information Registers

    RS-Bpearl User Manual Appendix B Information Registers Here are definitions and more details on information registers as mentioned in chapter 5. B.1 Motor(MOT_SPD) Motor Speed (2 bytes in total) Byte No. byte1 byte2 Function MOTOR_SPD Register description: (1) This register is used to set the rotation direction and rotation speed.

  • Page 34: Fov Setting (Fov Set)

    RS-Bpearl User Manual B.3 FOV Setting (FOV SET) FOV Setting(Total 4bytes) Byte No. byte1 byte2 byte3 byte4 Function FOV_START FOV_END Register Description: Set the horizontal angle range of the device for outputting valid data, FOV_START and FOV_END adjustment range 0~36000, corresponding angle 0~360°, the data storage format adopts big endian format.

  • Page 35: Bottom Board Firmware (Bot_Frm)

    RS-Bpearl User Manual B.6 Bottom Board Firmware (BOT_FRM) Bottom Board Firmware(5bytes in total) Byte No. byte1 byte2 Byte3 Byte4 Byte5 Function BOT_FRM Register description： If our top board firmware revision is B7R14V4_T1_F, then BOT_FRM will output 06 23 06 06 F0. In the output, the A represent release version Application, while the F represent factory version Factory.

  • Page 36: Status

    RS-Bpearl User Manual set_day Byte No. bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 Function reserve reserve reserve set_day[4:0]：1~31 day hour set_hour Byte No. bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 Function reserve reserve reserve set_hour[4:0]：0~23 hour set_min Byte No.

  • Page 37: Fault Diagnosis

    RS-Bpearl User Manual ݀ ܽ 䖧 ̴ ‫݃ ݁ݎݎ‬ ݀ ܽ 䖧 ̴ ‫ݎ‬憌݃ 䋰 ݀ ܽ 䖧 ̴ ‫݃ ݁ݎݎ‬ ݀ ܽ 䖧 ̴ ‫ݎ‬憌݃ 䋰 dat䋰 The LSB for Idat is 1μA, the formula is as below: dat䋰...

  • Page 38: Ascii Code In Gprmc Packet

    RS-Bpearl User Manual Temperature5 represents bottom board temperature. The temperature register contains 2 bytes temperature_reg[15:0]. temperature_reg[15:12] invalid. temperature_reg[11:0] is temperature value, while temperature_reg[15] is symbol flag. (4) Byte16 represents the GPS input status register gps_st, this register uses 3 bits to describe the validation for PPS, GPRMC, and timestamp.

  • Page 39: Corrected Horizontal Offset Angle (Cor_Hor_Ang)

    RS-Bpearl User Manual Register description: (1) The angle value is signed integer, vertical angle for each channel is consist of 3 bytes, while the first byte represents the sign, the second byte and the third byte represent the value for the angle, storage mode is Big-endian.

  • Page 40: Appendix C Rsview

    RSView. The original sensor data can be also captured and examined by using other free tools, such as Wireshark or TCP-Dump. But visualization of the 3D data through using RSView is easy to realize. RS-Bpearl is used with RSView vision 3.1.5. or above C.1 Software Features...
  • Page 41 4. After finishing above 3 steps, the dialogue box “Sensor Configuration” shows up. In this dialogue box, the default configuration folder of RS-Bpearl calibration is already contained and the folder is already chosen. In “Type of LiDAR”, the option RSBpearl should be chosen, in “Intensity”, Mode3 should be chosen.

  • Page 42: Save Streaming Sensor Data Into Pcap File

    (Fig. C-5). After clicking “save” button, RSView begins writing data into pcap file. (Note: RS-Bpearl will generate enormous measuring data. So, it is best to use a fast, local HDD or SSD, not to use a slow subsystem such as USB storage device or network drive.) Figure C - 5: RSView Record Saving Dialog.
  • Page 43 Figure C - 7: Select the PCAP File. 3. In dialogue box Sensor Configuration, please add and select the right configuration file of RS-Bpearl, then click OK. 4. Clicking “Play/Pause” button can make 3D point cloud stream play and pause. Using the Scrub tool can select out the interesting frame.

  • Page 44: Rs-Bpearl Factory Firmware Parameters Setting

    RSView supplies a tool which integrates UCWP Protocol. It can be used to modify Rotate Speed, Network, Time, FOV and return mode in RS-Bpearl factory firmware. Before setting the firmware parameters, please ensure the connectivity of the RS-Bpearl and Display of real-time point cloud. Then Click Tools > RS-LiDAR Information, next, in RS-LiDAR Information dialogue, click “Get”...
  • Page 45 (the red marks in Figure C-15 are only an example, it shows a possibility for parameter change). Then wait 10 seconds, restart RS-Bpearl, wait for device connected, open the RSView to check, whether parameters have been changed.

  • Page 46: Setting Rsview Data Port

    Data Port in RSView must be set and refreshed. Otherwise, the data won’t be displayed. If the MSOP Port and DIFOP Port in RS-Bpearl are unknown or forgotten, user can utilize the software Wireshark to capture the data packet from Dst Port.

  • Page 47: Troubleshooting By Fault Diagnosis

    Figure C-20: Online Update successfully. C.10 Troubleshooting by Fault Diagnosis Firstly, need to check connectivity of RS-Bpearl, point cloud can be displayed normally and the Firmware information (as shown in section C.8) can be got. Click Tools > Fault Diagnosis, Fault diagnosis window will be shown. Click “Start”...
  • Page 48 RS-Bpearl User Manual Figure C-21: Fault Diagnosis Dialogue.

  • Page 49: Appendix D Rs-Bpearl Ros Package

    After configuring the static IP, it can be examined in CMD with code ifconfig. D.4 Display of the real-time data 1. Connect the RS-Bpearl to PC via twister pair wire with RJ45 connector, power on it, then wait for PC cognizing LiDAR.

  • Page 50: Offline Display The Recorded Pcap File

    The ros_rslidar ROS package can be also use to display the recorded. Pcap offline data. 1. Modify the “rs_Bpearl.launch” file like below (please pay attention to the red code line): <launch> <arg name="model" default="RS-BPearl" /> <arg name="device_ip" default="192.168.1.200" /> <arg name="msop_port" default="6699" />...
  • Page 51 RS-Bpearl User Manual </node> <node name="rviz" pkg="rviz" type="rviz" args="-d $(find rslidar_pointcloud)/rviz_cfg/rslidar.rviz" /> </launch> 2. Open a terminal, run the node: cd ~/catkin_ws source devel/setup.bash roslaunch rslidar_pointcloud rs_lidar_Bpearl.launch 3. This step is same as step 3 in section C.4.

  • Page 52: Appendix E Dimension

    RS-Bpearl User Manual Appendix E Dimension Figure E - 1. Dimension Drawing of RS-LiDAR-Bpearl.

  • Page 53: Appendix F Suggestion Of Mechanical Lidar Mount

    RS-Bpearl User Manual Appendix F Suggestion of Mechanical LiDAR Mount Please make sure the surface of platform used for mounting LiDAR is smooth as possible. Please make sure the locating pin on the mount surface do exceed 4mm high. The material of the mount platform is suggested to be aluminum alloy in order to thermolysis.

  • Page 54: Appendix G Seek Msop And Difop Port Number

    According to the description of chapter 5, MSOP and DISOP are the two protocols can be sent out by RS-Bpearl. Their content could be parsed from excepted port by wireshark that is a network protocol analyzer. The port information can be used to set up the Data Port in RSView.

  • Page 55: Appendix H Clean Of Lidar

    RS-Bpearl User Manual Appendix H Clean of LiDAR H.1 Attention Before cleaning the RS-LiDAR, please read through this entire Appendix F. Otherwise, improper handling can permanently damage it. When the sensor is used in a harsh environment, it is necessary to clean it in time to keep its performance.
  • Page 56 RS-Bpearl User Manual...

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