Phase Locking - RoboSense Ruby Plus User Manual

Note:
1)
Dual Return Mode includes three types of return combinations: First & Strong
(the first and strongest return), First & Last (the first and last return), and
Strong & Last (the strongest and last return).
2)
In Dual Return mode, when the laser hits multiple targets, and the distance
between the targets is greater than 1 meter, the LiDAR can detect two echoes,
as shown in 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. In DIFOP, the 300th byte represents the flag for the return mode, as
shown in Table 2:
2.5.4

Phase Locking

Ruby Plus's phase locking function allows the device to emit lasers at specific angles
when the sensor reaches a whole second. Figure 4 illustrates Ruby Plus's setup with
different phase angles. The red arrows indicate that at the whole second, the sensor
Figure 3 Dual Return Detection
Table 2 Return Mode and Flags Mapping
DIFOP Offset Flag
00
01
02
300
03
04
05
Return Mode
Strongest Return
Last Return
First Return
Strongest + Last Return
Strongest + First Return
Last + First Return
Ruby Plus User Guide
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