1. Manuals
  2. Brands
  3. RoboSense Manuals
  4. Radar
  5. Ruby Plus
  6. User manual

RoboSense Ruby Plus User Manual

Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
Version 1.0

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the Ruby Plus and is the answer not in the manual?

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for RoboSense Ruby Plus

Summary of Contents for RoboSense Ruby Plus

  • Page 1 Version 1.0...

  • Page 2: Change Description

    Ruby Plus User Guide Change Description Version Revision Date Description 2023/8/19 Initial release 1. Increase LiDAR weight tolerance range 2. Update LiDAR coordinate illustration 2023/11/6 3. Update the MSOP package description and distance resolution value; 4. Updated the Angle pulse parameter description...

  • Page 3: Reading Prompt

    Please click the following link to download the latest product manual, RSview and other resources: https://www.robosense.cn/resources More Information Manufacturer: Suteng Innovation Technology Co., Ltd. (RoboSense). Website: https://www.robosense.cn/ Technical Support: support@robosense.cn Address: Building 9, Block 2, Zhongguan Honghualing Industry Southern District,...

  • Page 4: Table Of Contents

    Ruby Plus User Guide Content Change Description ....................... 1 Reading Prompt ......................2 Content ...........................3 Safety Notices ......................6 1.1 Legal Statement ....................6 1.2 User Guidelines ....................6 1.3 Illegal Operation ....................6 1.4 Requirements for Operating Personnel .............7 1.5 Work Safety and Special Hazards ..............7 Product Description ....................
  • Page 5 Ruby Plus User Guide 4.2.2 Accessing the Web UI Interface ............27 4.2.3 Using the Web UI Interface ..............28 4.3 RSView Usage ....................28 4.3.1 Software Functions ................28 4.3.2 Installing RSView .................29 4.3.3 Using RSView ..................29 4.4 Communication Protocols ................29 4.4.1 MSOP and DIFOP Data Protocols ............29...
  • Page 6 Ruby Plus User Guide C.12 Time (UTC_TIME) ..................53 C.13 Runtime Status (STATUS) ................53 C.14 Fault Diagnosis (FALT_DIGS) ..............53 C.15 GPRMC Data Packet - ASCII Code Data Type ........... 54 C.16 Vertical Angle Calibration (COR_VERT_ANG) ......... 55 C.17 Horizontal Angle Calibration (COR_HOR_ANG) ........56 Appendix D Accurate Point Time Calculation .............58...

  • Page 7: Safety Notices

    RoboSense. The word "RoboSense" and other logos and product and service names are owned by RoboSense. If you need to use them for any advertising or displaying purposes, you must obtain prior written authorization from RoboSense.

  • Page 8: Requirements For Operating Personnel

    Unreasonable operations performed by personnel without basic knowledge or training do not constitute a fault of RoboSense and may cause damage to equipment and personal property. 1) Please read the product manual in detail before using the device;...
  • Page 9 4) Heed Warnings: All warnings on the product and in the operating instructions should be adhered to. 5) 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.

  • Page 10: Product Description

    2 Product Description Product Overview Ruby Plus is a new flagship 128-line LiDAR by RoboSense, featuring a modular and innovative design for L4+ autonomous driving. It breaks through the measurement range to 240 meters at 10% reflectivity and offers a vertical angle resolution of 0.1°...

  • Page 11: Fov Distribution

    Used to secure the LiDAR to the mounting bracket with M4 screws. FOV Distribution Ruby Plus has a horizontal FOV range of 0° to 360° and a vertical FOV range of -25° to +15°, with a minimum angle interval of 0.1° non-uniformly distributed. The 128 lasers are defined as 128 channels, and their correspondence with the actual vertical angles is shown in Figure 2 (b).

  • Page 12: Specifications

    Ruby Plus User Guide Specifications Table 1 Ruby Plus Specifications Specifications Horizontal Field of Number of Channels 360° View (FOV) Vertical Field -25° ~ +15° Laser Wavelength 905 nm View (FOV) (Total 40°) 0.2° / 0.4° (Balanced Mode) Laser Emission Angle Horizontal 1.0 mrad,...

  • Page 13: Product Principle

    Cartesian X, Y, Z axes. 2.5.2 Reflectivity Interpretation Ruby Plus LiDAR provides reflectivity information to characterize the reflectance of measured objects. In Ruby Plus data, the calibrated reflectivity range is from 1 to 255. 2.5.3 Return Modes 2.5.3.1 Return Modes Principle Ruby Plus supports multiple return modes, including Strongest Return, Last Return, First Return, and Dual Return modes.

  • Page 14: Phase Locking

    Figure 3 . 2.5.3.2 Return Mode Flags By default, Ruby Plus is set to the Strongest Return mode. If the user needs to change the settings, please refer to Appendix A.2 in the product parameter setting for configuration.

  • Page 15: Time Synchronization Mode

    2.5.5 Time Synchronization Mode Ruby Plus supports three time synchronization methods: GPS + PPS, PTP (IEEE 1588 V2 protocol), and gPTP (IEEE 802.1 AS protocol). Users can configure these settings through the Web interface. For more details, refer to section 4.2 of the product manual.
  • Page 16 The external GPS module needs to set the output serial port baud rate to 9600 bps, 8 data bits, no parity bit, and 1 stop bit. Ruby Plus only reads GPRMC-formatted data sent by the GPS module. The standard format is as follows: $ GPRMC,<1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>,<9>,<10>,<11>,<12>...
  • Page 17 *hh at the end represents the XOR sum of characters from $ to * Note: The GPS_REC interface specification on the Ruby Plus power box is JST S12B-J11DK-TXR, with pin definitions shown in Table 8. The interval for sending 1 PPS pulse should be controlled within 1s ± 200 us.
  • Page 18 4) Devices that support PTP/gPTP protocols and need time synchronization. Note: The PTP Master device is a third-party device and is not included in the RoboSense shipment. The user needs to purchase it separately. RoboSense products, as Slave devices, only receive time from the Master and do not judge the accuracy of the Master's clock source.

  • Page 19: Product Installation

    Ruby Plus User Guide 3 Product Installation Accessory Description The standard accessories included with Ruby Plus LiDAR are listed in Table 4 for reference. Table 4 Standard Accessory List Accessory Name Specification Quantity LiDAR Ruby Plus Interface Box 3m cable length Power Adapter DC12 V ×...
  • Page 20 Ruby Plus User Guide 1) Screw Specifications: GB / T70.1, M4 × 10, internal hexagon cup head, A2 - 70 stainless steel. 2) Installation Requirements: a) The installation surface flatness should be better than 0.2 mm. b) The bottom surface should be installed with 4 M4 screws, with an installation surface protrusion of 6 ~ 8 mm.

  • Page 21: Interface Description

    LiDAR. Interface Description 3.3.1 Aviation Plug Interface and Definitions Ruby Plus uses 2 aviation plug interfaces as shown in Figure 8 and Figure 9 .
  • Page 22 Ruby Plus User Guide Figure 8 4-core Aviation Plug Figure 9 6-core Aviation Plug The pin definitions for the Ruby Plus aviation plug interfaces are listed in Table 5 and Table 6. Table 5 4-core Aviation Plug Interface Definition A-end Pin No.

  • Page 23: Interface Box

    Interface Box Figure 10 Interface Box Schematic Figure 10 shows the schematic diagram of the interface box for Ruby Plus. The accessory interface box is equipped with a power indicator light and various interfaces, as shown in Figure 10 . It can be connected to power input, RJ45 Ethernet port, and GPS input cable (for the version with the aviation plug interface box, the cable length is 3 meters;...

  • Page 24: Power Interface

    PPS+GPRMC provides GPS time synchronization function. +5 V can be used to power the GPS. Important Note: When connecting Ruby Plus "Ground" to an external system, the negative pole ("Ground") of the external system's power supply and the "Ground" of the GPS system must be non-isolated common ground systems.
  • Page 25 Ruby Plus User Guide The Ruby Plus network parameters can be configured, and the default factory setting uses fixed IP and port number mode, as shown in Table 10. Table 10 Default Factory Network Configuration Table Device IP Address MSOP Package Port Number DIFOP Package Port Number Ruby Plus 192.168.1.200...
  • Page 26 Ruby Plus User Guide IP of Computer by analyzing " arp" packets a) Perform the following steps after the LiDAR and PC are connected: b) Start Wireshark (a third-party network analysis tool) and select the correct network interface to begin capturing packet.
  • Page 27 Ruby Plus User Guide please purchase them separately and follow the connection method shown in Figure 11 . The configuration of the local static IP provided above is only an example for Windows operating systems. For other operating systems, please refer...

  • Page 28: Product Usage

    Ruby Plus only supports parameter setting, viewing of operational information/status, and firmware upgrades through the web interface. The Ruby Plus web address changes according to the Device IP. The default Device IP is 192.168.1.200. If you have changed the Device IP, the web address will be the newly set IP.

  • Page 29: Using The Web Ui Interface

    For detailed instructions on using the Web UI interface, please refer to Appendix A of the product manual. RSView Usage For data visualization with Ruby Plus, you can use free tools such as Wireshark and tcp-dump to obtain raw data. RSView can provide a more convenient way to visualize the raw data.

  • Page 30: Installing Rsview

    "RS-LiDAR User Guide" option in the Help menu. Communication Protocols Ruby Plus communicates with a computer via Ethernet using UDP (User Datagram Protocol). The communication protocols between Ruby Plus and the computer fall into two categories, as described in Table 11.

  • Page 31: Main Data Stream Output Protocol (Msop)

    Ruby Plus User Guide The UDP packets sent by Ruby Plus have a payload of 1248 bytes. The data structure for the Main Data Stream Output Protocol (MSOP) and Device Information Output Protocol (DIFOP) is shown in Figure 14 .
  • Page 32 Timestamp Appendix C.12 in the product manual. Reserved LiDAR Type Used to indicate the LiDAR series. 0x05: Ruby Plus Reserved Note: The defined timestamp is used to record the system time with a resolution of 1 us. For specific details, refer to Appendix C.13 in the product manual for time definition.
  • Page 33 Ruby Plus User Guide Table 14 Data Block Packet Definition 数据块(1200 bytes) 说明 数据块序号 Data Block 1 Data Block 2 Data Block 3 0xfe 0xfe 0xfe 标志位 Ret_id Ret_id Ret_id 回波序号 水平旋转角 Azimuth 1 Azimuth 2 Azimuth 12 通道 1...

  • Page 34: Device Info Output Protocol (Difop)

    Result: 18403° / 100 = 1184.03°. 2) Angle Value Definition In each Data Block, Ruby Plus outputs the angle value corresponding to the first channel's laser ranging time. The angle value is derived from the angle encoder, where the zero position of the angle encoder corresponds to the zero angle, and the horizontal rotation angle resolution is 0.01°.
  • Page 35 Ruby Plus User Guide Table 16 Data Format Structure of DIFOP Packet Length Section Index Information Offset Remarks (byte) Header DIFOP Identifier a5_ff_00_5a_11_11_55_55 Motor Speed Setting Appendix C.1 Ethernet Appendix C.2 FOV Setting Value Appendix C.3 Reserved Motor Phase Lock Appendix C.4...
  • Page 36 Ruby Plus User Guide Note: The Header (DIFOP Identifier) content is 0xA5, 0xFF, 0x00, 0x5A, 0x11, 0x11, 0x55, 0x55, and can be used as a check sequence for the packet. The Tail (Frame Tail) content is 0x0F, 0xF0. The definition and usage of each item's register can be found in Appendix C of the product manual, and the corresponding relationships are detailed in the Remarks column of Table 16.

  • Page 37: Product Maintenance

    Ruby Plus User Guide 5 Product Maintenance Transportation and Logistics Important Improper transportation can cause product damage! 1) The product should be packaged with shockproof and moisture-proof materials to avoid damage during transportation. It is recommended to use the original packaging;...

  • Page 38: Precautions

    Ruby Plus User Guide 5.3.1 Precautions Before cleaning the RS-LiDAR, carefully read and understand the content of this section. Improper cleaning may damage the product. When using the LiDAR in harsh environmental conditions, clean the surface regularly to keep the LiDAR clean. Otherwise, it may affect the normal operation of the LiDAR.

  • Page 39: Fault Diagnosis

    Ruby Plus User Guide 6 Fault Diagnosis This chapter lists some common problems encountered during the use of the product and their corresponding troubleshooting methods. For details, refer to Table 17. Table 17 Common Fault Troubleshooting Methods Fault Phenomenon Solution...
  • Page 40 Ruby Plus User Guide the MSOP type. Table 17 (Continuation) Fault Phenomenon Solution Confirm if there is a large number of other network packets or network conflicts in the network; Confirm if there are other network products sending a large...

  • Page 41: After-Sales Service

    Email: support@robosense.cn Phone: 0755-86325830 / 15338772453 Additional Information: Please wait for a confirmation response from RoboSense after-sales service before sending the product back. When sending the product back, please use the original packaging or an equivalent cushioned and moisture-resistant packaging.

  • Page 42: Appendix A Web Ui Operation

    Ruby Plus User Guide Appendix A Web UI Operation A.1 Product Information The web interface of the LiDAR provides the default product information page, as shown in Figure 16 : Figure 16 Web Interface Home Page 1) Top Board: Mainboard firmware version.

  • Page 43: Product Parameter Settings

    Ruby Plus User Guide A.2 Product Parameter Settings The "Setting" tab on the web page is the LiDAR parameter setting page where you can change Device IP, Port number, Return mode, Rotation speed, and Angle trigger settings. The illustrations and descriptions are shown in Figure 17 and Figure 19 : Figure 17 Web Interface LiDAR Settings 1) Supports Unicast (default)/Broadcast mode.
  • Page 44 Ruby Plus User Guide PTP-P2P, PTP-E2E, or PTP-gPTP to determine the time synchronization method. 6) Dropdown option for selecting the "Operation Mode" as Standby/Balance (default)/High Performance (0.1°). When Standby mode is selected, the radar motor and transmitter stop working. 7) Can set "Phase Lock Setting" within the range of 0° to 360°.

  • Page 45: Product Diagnostics / Operating Status

    Ruby Plus User Guide within Ruby Plus, but only SYNC OUT 1 is available in the power box). Refer to Table 8 for specific definitions. 5) Pulse Trigger Switch: Enable/Disable the trigger function. When "ON" is checked, the options become editable; when "OFF," they become grayed out and uneditable.

  • Page 46: Product Firmware Upgrade

    Click on the "System" on the web page. This page allows the firmware upgrade for the mainboard, baseboard, software, web interface, and motor. Follow the steps below: 1) Contact RoboSense to obtain the upgrade firmware. Once the firmware is ready, click "Choose File," as shown in Figure 20 .
  • Page 47 Ruby Plus User Guide Figure 20 Step 1 - Click "Choose File" 2) Select the folder containing the corresponding firmware for the upgrade, then click "Open" (avoid using Chinese characters in the file path), as shown in Figure 21 .
  • Page 48 Ruby Plus User Guide duplicate version). The product will automatically restart. After the restart, log in again to the web interface homepage and check the Device section to confirm if the upgrade was successful, as shown in Figure 23 .

  • Page 49: Appendix Bros & Ros2 Package

    Ruby Plus User Guide Appendix B ROS & ROS2 Package rslidar_sdk is the ROS-based driver SDK. You can download it from the RoboSense GitHub repository or contact RoboSense for access. 1) rslidar_sdk depends on rs_driver, which is the basic RoboSense driver. Download rs_driver from the GitHub platform.

  • Page 50: Appendix C Register Definitions

    Ruby Plus User Guide Appendix C Register Definitions This appendix provides additional information to section 4.4, defining the various registers in the protocol. All calculations are in big-endian format. The "Value" represents the decimal value obtained after converting the offset bytes.

  • Page 51: Fov Setting (Fov_Set) Register

    Ruby Plus User Guide C.3 FOV Setting (FOV_SET) Register Table 20 FOV Setting Register FOV Setting Register (4 bytes) Index byte 1 byte 2 byte 3 byte 4 Function FOV_START FOV_END Register Description: 1) This register is used to read the FOV (Field of View) setting value.

  • Page 52: Bottom Board Firmware Version (Bot_Frm)

    Ruby Plus User Guide Register Description If byte 1=0x00, byte 2=0x01, byte 3=0x05, byte 4=0x05, byte 4=0x00, then the firmware version is 00 01 05 05 00. C.6 Bottom Board Firmware Version (BOT_FRM) Table 23 Bottom Board Firmware Version Bottom board firmware version (5 bytes)

  • Page 53: Web Cgi Version (Cgi_Frm)

    Ruby Plus User Guide C.9 Web CGI Version (CGI_FRM) Table 26 Web CGI Firmware Version Web CGI firmware version (5 bytes) Index byte 1 byte 2 byte 3 byte 4 byte 5 Function CGI_FRM Register Description If byte 1=0x00, byte 2=0x23, byte 3=0x03, byte 4=0x16, byte 4=0x06, then the firmware version is: 00 22 10 14 21.

  • Page 54: Time (Utc_Time)

    Ruby Plus User Guide synchronization successful. C.12 Time (UTC_TIME) Table 29 Time Register Time register (10 bytes) Index byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7 byte 8 byte 9 byte 10 Function Register Description The value of "us"...

  • Page 55: Gprmc Data Packet - Ascii Code Data Type

    Ruby Plus User Guide Table 32 GPS Signal Input Status Register GPS 信号输入状态寄存器 GPS_ST Index Function Status Value Status Description PPS Flag： PPS signal invalid bit 0 PPS_LOCK PPS signal valid GPRMC Flag: GPRMC signal invalid bi t 1 GPRMC_LOCK...

  • Page 56: Vertical Angle Calibration (Cor_Vert_Ang)

    Ruby Plus User Guide C.16 Vertical Angle Calibration (COR_VERT_ANG) Table 33 Vertical Angle Calibration Register Vertical Angle Calibration Register (384 bytes) Index byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7 byte 8 byte 9...

  • Page 57: Horizontal Angle Calibration (Cor_Hor_Ang)

    Ruby Plus User Guide 3) The angle resolution is 0.01°. 4) For example, if the value of the Channel 1 register is byte 1=0x00 (positive value), byte 2=0x00, and byte 3=0xE7 (converted to decimal 231). Then, the vertical angle value of Channel 1 is 2.31°.
  • Page 58 Ruby Plus User Guide offset angle is positive. If the attribute is 0x01, the channel's horizontal offset angle is negative. 3) The angle resolution is 0.01°. 4) For example, if the value of Channel 1's register is byte 1=0x01 (negative angle), byte 2=0x00, and byte 3=0x04 (converted to decimal, it is 4), then Channel 1's horizontal offset angle is -0.04°.

  • Page 59: Appendix D Accurate Point Time Calculation

    Ruby Plus User Guide Appendix D Accurate Point Time Calculation In each MSOP (Multiple Sensor Overlapping Profiles) Packet, there are 3 blocks, and each block contains a complete set of 128-line laser data. The time required for 128 channels to complete one round of emission is 55.56 microseconds (us), including both emission and charging time.
  • Page 60 Ruby Plus User Guide Table 35 (Continuation) Time Offset (us) MSOP Packet Channel ID Vertical Angle Horizontal Angle BLOCK1 BLOCK2 BLOCK3 -6.01 1.18 6.086 616.642 117.198 -5.91 -2.36 6.086 616.642 117.198 -5.81 -5.91 6.086 616.642 117.198 -4.90 5.94 7.304 62.86 118.416...
  • Page 61 Ruby Plus User Guide Table 35 (Continuation) Time Offset (us) MSOP Packet Channel ID Vertical Angle Horizontal Angle BLOCK1 BLOCK2 BLOCK3 -1.49 -1.15 20.976 76.532 132.088 -1.39 -4.69 20.976 76.532 132.088 -2.09 4.72 23.127 78.683 134.239 -2.00 1.18 23.127 78.683 134.239...
  • Page 62 Ruby Plus User Guide Table 35 (Continuation) Time Offset (us) MSOP Packet Channel ID Vertical Angle Horizontal Angle BLOCK1 BLOCK2 BLOCK3 1.41 -5.90 40.666 96.222 151.778 2.32 5.94 42.683 98.239 153.795 2.41 2.39 42.683 98.239 153.795 2.52 -1.15 42.683 98.239 153.795...

  • Page 63: Appendix E Channel Ranging Capability Table

    Ruby Plus User Guide Appendix E Channel Ranging Capability Table Table 36 Channel Ranging Capability Ranging @ Maximum Blind Ranging @ 10% Maximum Channel Vertical Blind Channel Vertical 10% Target Ranging Zone Target Ranging Number Angle (°) Zone (m) Number Angle (°)
  • Page 64 Ruby Plus User Guide Table 36 (Continuation) Ranging @ Maximum Blind Ranging @ 10% Maximum Channel Vertical Blind Channel Vertical 10% Target Ranging Zone Target Ranging Number Angle (°) Zone (m) Number Angle (°) Reflectivity (m) Distance (m) Reflectivity (m) Distance (m) -3.9...

  • Page 65: Appendix F Mechanical Drawings

    Ruby Plus User Guide Appendix F Mechanical Drawings...

Table of Contents