1. Scope of Application

This document aims to describe the configuration method of a laser sensor using radium.

Second, Debugging Resources

• Upper Computer Software

3. Upper Computer Parameter Configuration

The default IP address for the laser factory is 192.168.1.100. Therefore, you must change the IP address of the configuration computer to a fixed IP address in the same network segment, and then open the browser to access the configuration page at 192.168.1.100.

Access the website 192.168.192.100/advanced.html and navigate to the Weak Points Filter section. Set it to OFF to disable the filtering function of the radium itself. The Tail Points Filter (trailing point) should be set to the default middle gear.

Revise the laser setup, turn it on, and reboot.
Next, in the model file, choose the laser category as OLAM-LR1BS-UDP, and set the increment to 0.15. Once the accurate IP address and port are set, press the IP address.

Four, Model File Configuration

The robot is equipped with a solitary laser, and its configuration is as follows:

Five Precautions

When configuring the Erum laser for obstacle avoidance on the forklift, it is important to pay attention to the installation position of the laser and ensure that the IP is configured correctly. Additionally, it is crucial to observe the point cloud coincidence degree, which refers to the positioning laser and the following obstacle avoidance laser being able to see the same object, such as a wall or column. If the coincidence is very good, then the configuration is correct, as shown in the following figure (where the yellow laser point and purple laser point can coincide on the left side of the figure):

VI. Problems of laser noise and solutions

During the reuse process of the Radium 1bs5 series lidar, there may be noise issues. The specific symptoms are as follows:

6.1 Dust on the cover leads to the formation of noise around the lidar;

This phenomenon happens more often in environments with a lot of dust, which typically creates interference around the lidar. To remedy this, it's important to use a dry and clean cloth to wipe the lidar cover.

6.2 Points of noise caused by reflection between smooth surface objects due to light scattering:

This situation typically occurs when there is a relatively smooth surface (such as glass, stainless steel, or painted surfaces) reflecting noise. In such cases, the laser scanning performance may result in point cloud without blocking. The Euclium laser upper computer provides a choice of noise filtering intensity, which can be adjusted to filter out some noise.
The Erum laser upper computer provides a selection of noise filtering intensity. By adjusting the intensity of filtering, some noise can be filtered out. To access the website, open 192.168.192.100/advanced.html.
The weak points filter and tail points filter are filtering algorithm strengths provided by Radium. They respectively represent the weak signal filtering strength and trailing filtering strength, and provide four levels of adjustment. The farther to the right, the stronger the filtering strength.
In general, the intensity of the second gear needs to be selected. If there is still noise in the second gear of the weak points filter, increase it to the third and fourth gear until the noise disappears. If the fourth gear still cannot solve the problem, adjust the tail points filter to the third gear. If this does not solve the problem, consider replacing the lidar.

6.3 Tailing

For a description of the trailing phenomenon, please refer to the Single Line Lidar section.
If the tail points filter is causing a serious issue, adjust the intensity to the third gear. If the issue persists, adjust the weak points filter to the third and fourth gear and test separately. If the problem still cannot be solved, replace the Lidar.
Note that the tail points filter cannot be adjusted to the fourth gear as it will affect the farthest ranging distance and viewing angle of the Lidar. For example, the farthest ranging of 1bs5 is 25m, but it will be reduced to 12.5m after adjustment, and the maximum viewing angle will be only 90° directly in front of the Lidar, ±45°.