Velodyne DIGITAL DRIVE - REV G Dokumentacja

USER’SMANUALANDPROGRAMMINGGUIDEHDL‐64ES3HighDefinitionLiDARSensor

HDL‐64ES3High DefinitionLiDARSensor Page10Velodyne,Inc.©201363‐HDL64ES3REV G .xml Calibration Parameters Parameter Unit Description Valu

HDL‐64ES3High DefinitionLiDARSensor Page11Velodyne,Inc.©201363‐HDL64ES3REV G 4. Apply the calibration factors to the data. Each of the sen

HDL‐64ES3High DefinitionLiDARSensor Page12Velodyne,Inc.©201363‐HDL64ES3REV G Change Run-Time Parameters The sensor has several run-time par

HDL‐64ES3 HighDefinitionLiDARSensor Page13Available Serial Commands HDL-64E S3 More information about these commands is on the pages follo

HDL‐64ES3High DefinitionLiDARSensor Page14Velodyne,Inc.©201363‐HDL64ES3REV G Control the Spin Rate Change Spin Rate in Flash Memory The

HDL‐64ES3High DefinitionLiDARSensor Page15Velodyne,Inc.©201363‐HDL64ES3REV G The following diagram shows the HFOV from the top view of the

HDL‐64ES3High DefinitionLiDARSensor Page16Velodyne,Inc.©201363‐HDL64ES3REV G To activate dual returns and set the return priority, issue a

HDL‐64ES3High DefinitionLiDARSensor Page17Velodyne,Inc.©201363‐HDL64ES3REV G Laser Output Power Level Management and Reporting Under poor v

HDL‐64ES3High DefinitionLiDARSensor Page18Velodyne,Inc.©201363‐HDL64ES3REV G Upload Calibration Data Sensors used the .xml file exclusively

HDL‐64ES3High DefinitionLiDARSensor Page19Velodyne,Inc.©201363‐HDL64ES3REV G Packet Format and Status Byte for GPS Time Stamping The 6 byt

HDL‐64ES3High DefinitionLiDARSensor Page2Velodyne,Inc.©201363‐HDL64ES3REV G TableofContentsSafetyNotices...

HDL‐64ES3High DefinitionLiDARSensor Page20Velodyne,Inc.©201363‐HDL64ES3REV G Laser Firing Sequence and Timing If the GPS timestamp feature

HDL‐64ES3High DefinitionLiDARSensor Page21Velodyne,Inc.©201363‐HDL64ES3REV G Firmware Updates From time to time Velodyne issues firmware up

HDL‐64ES3High DefinitionLiDARSensor Page22Velodyne,Inc.©201363‐HDL64ES3REV G Appendix A: Mechanical Drawings

HDL‐64ES3High DefinitionLiDARSensor Page23Velodyne,Inc.©201363‐HDL64ES3REV G Figure 6: Side and Front Unit V

HDL‐64ES3High DefinitionLiDARSensor Page24Velodyne,Inc.©201363‐HDL64ES3REV G Figure 8: Mounting Surface Example

HDL‐64ES3High DefinitionLiDARSensor Page25Velodyne,Inc.©201363‐HDL64ES3REV G Appendix B: Connector Pin outs Power, Serial & GPS Conne

HDL‐64ES3High DefinitionLiDARSensor Page26Velodyne,Inc.©201363‐HDL64ES3REV G Appendix C: Digital Sensor Recorder (DSR) DSR is a 3D point-c

HDL‐64ES3High DefinitionLiDARSensor Page27Velodyne,Inc.©201363‐HDL64ES3REV G Record Data 1. Confirm the input of streaming data through

HDL‐64ES3High DefinitionLiDARSensor Page28Velodyne,Inc.©201363‐HDL64ES3REV G DSR Key Controls You can use the following keyboard shortcuts

HDL‐64ES3High DefinitionLiDARSensor Page29Velodyne,Inc.©201363‐HDL64ES3REV G Appendix D: MATLAB Sample Code Matlab sample code to read cal

HDL‐64ES3High DefinitionLiDARSensor Page3Velodyne,Inc.©201363‐HDL64ES3REV G AppendixD:MATLABSampleCode...

HDL‐64ES3High DefinitionLiDARSensor Page30Velodyne,Inc.©201363‐HDL64ES3REV G FocalDist(i)=FocalDist(i)—65536; end FocalDist(i)=FocalDist(i

HDL‐64ES3High DefinitionLiDARSensor Page31Velodyne,Inc.©201363‐HDL64ES3REV G 4 GPSTimestamp 1 StatusType 1 Status Value EthernetPacke

HDL‐64ES3High DefinitionLiDARSensor Page32Velodyne,Inc.©201363‐HDL64ES3REV G Status Type Rotation StatusTypeRotatesThrough Hex ASCII S

HDL‐64ES3High DefinitionLiDARSensor Page33Velodyne,Inc.©201363‐HDL64ES3REV G GPS Status Values GPSStatusValues Hex ASCII StringandDe

HDL‐64ES3High DefinitionLiDARSensor Page34Velodyne,Inc.©201363‐HDL64ES3REV G StatusValueTypes Cycle# String Parameter ASCIIVal

HDL‐64ES3High DefinitionLiDARSensor Page35Velodyne,Inc.©201363‐HDL64ES3REV G StatusValueTypes Cycle# String Parameter ASCIIValu

HDL‐64ES3High DefinitionLiDARSensor Page36Velodyne,Inc.©201363‐HDL64ES3REV G StatusValueTypes Cycle# String Parameter ASCIIVal

HDL‐64ES3High DefinitionLiDARSensor Page37Velodyne,Inc.©201363‐HDL64ES3REV G FE MotorSpeed Low ByteFF MotorSpeed High Byte 2ByteSigne

HDL‐64ES3High DefinitionLiDARSensor Page38Velodyne,Inc.©201363‐HDL64ES3REV G TotalBytesforAllLaserCalibration&ParameterData

HDL‐64ES3High DefinitionLiDARSensor Page39Velodyne,Inc.©201363‐HDL64ES3REV G CRC Checksum Algorithm The following is an example of the CRC

HDL‐64ES3High DefinitionLiDARSensor Page4Velodyne,Inc.©201363‐HDL64ES3REV G Safety Notices Caution To reduce the risk of electric shock

HDL‐64ES3High DefinitionLiDARSensor Page40Velodyne,Inc.©201363‐HDL64ES3REV G

HDL‐64ES3High DefinitionLiDARSensor Page41Velodyne,Inc.©201363‐HDL64ES3REV G

HDL‐64ES3High DefinitionLiDARSensor Page42Velodyne,Inc.©201363‐HDL64ES3REV G

HDL‐64ES3High DefinitionLiDARSensor Page43Velodyne,Inc.©201363‐HDL64ES3REV G Appendix F: Dual Two Point Calibration Methodology & Code

HDL‐64ES3High DefinitionLiDARSensor Page44Velodyne,Inc.©201363‐HDL64ES3REV G float xyDistance = distance * cosVertAngle;// — vOffsetCorr *

HDL‐64ES3High DefinitionLiDARSensor Page45Velodyne,Inc.©201363‐HDL64ES3REV G Intensity Compensation vs Distance Intensity compensation is d

HDL‐64ES3High DefinitionLiDARSensor Page46Velodyne,Inc.©201363‐HDL64ES3REV G Intensity Value Corrected by Distance for (guint i=0; i< VL

HDL‐64ES3High DefinitionLiDARSensor Page47Velodyne,Inc.©201363‐HDL64ES3REV G Appendix G: Ethernet Timing Tables The sensor Ethernet timin

Velodyne,Inc.©201363‐HDL64ES3 REV G HDL‐64ES3 HighDefinitionLiDARSensor Page48Laser Firing Time Table for HDL64 S3 Firmware F2 Dual Retur

HDL‐64ES3High DefinitionLiDARSensor Page49Velodyne,Inc.©201363‐HDL64ES3REV G Laser and Detector Arrangement The images below show the arra

HDL‐64ES3High DefinitionLiDARSensor Page5Velodyne,Inc.©201363‐HDL64ES3REV G Introduction Congratulations on your purchase of a Velodyne HD

HDL‐64ES3High DefinitionLiDARSensor Page50Velodyne,Inc.©201363‐HDL64ES3REV G Appendix I: Angular Resolution RPM RPS (Hz) Total La

HDL‐64ES3High DefinitionLiDARSensor Page51Velodyne,Inc.©201363‐HDL64ES3REV G Appendix J: Troubleshoot Use the chart below to troubleshoot

HDL‐64ES3High DefinitionLiDARSensor Page52Velodyne,Inc.©201363‐HDL64ES3REV G Appendix K: Service and Maintenance No service or maintenance

HDL‐64ES3High DefinitionLiDARSensor Page53Velodyne,Inc.©201363‐HDL64ES3REV G Appendix L: Specifications Sensor  64 lasers/d

HDL‐64ES3High DefinitionLiDARSensor Page54Velodyne,Inc.©201363‐HDL64ES3REV G Velodyne LiDAR, Inc. 345 Digital Driv

HDL‐64ES3High DefinitionLiDARSensor Page6Velodyne,Inc.©201363‐HDL64ES3REV G Principles of Operation The sensor has 64 lasers fixed moun

HDL‐64ES3High DefinitionLiDARSensor Page7Velodyne,Inc.©201363‐HDL64ES3REV G 360°SpinningLidarSensor26.8°ValidDataRange0.9mt

HDL‐64ES3High DefinitionLiDARSensor Page8Velodyne,Inc.©201363‐HDL64ES3REV G Installation The unit is simple to install because the sensor h

HDL‐64ES3High DefinitionLiDARSensor Page9Velodyne,Inc.©201363‐HDL64ES3REV G View Image The sensor needs no configuration, calibration, or o