Velodyne DIGITAL DRIVE - REV G Dokumentacja Pobierz pdf (Strona 2)

HDL‐64ES3

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High DefinitionLiDARSensor Page2

Velodyne,Inc.

2013

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63‐HDL64ES3REV G

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TableofContents

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SafetyNotices.......................................................................................................................4

Caution ...................................................................................................................................... 4

Introduction..........................................................................................................................5

In the Box................................................................................................................................... 5

PrinciplesofOperation..........................................................................................................6

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Installation............................................................................................................................8

Mounting .................................................................................................................................... 8

Wiring ........................................................................................................................................ 8

Power ..................................................................................................................................... 8

Lockout Circuit ........................................................................................................................ 8

Ethernet .................................................................................................................................. 8

Serial Interface RS-232........................................................................................................... 8

ViewImage...........................................................................................................................9

1. Use the Included Point-cloud Viewer...................................................................................... 9

2. Develop Your Own Application-Specific Point-Cloud Viewer ................................................... 9

ChangeRun‐TimeParameters..............................................................................................12

Sample Batch File (.bat)............................................................................................................12

Sample SERCMD.txt file ...........................................................................................................12

Available Serial Commands HDL-64E S3 .................................................................................13

Control the Spin Rate................................................................................................................14

Change Spin Rate in Flash Memory ......................................................................................14

Change Spin Rate in RAM Only.............................................................................................14

Limit Horizontal FOV Data Collected .........................................................................................14

Define Sensor Memory IP Source and Destination Addresses ..................................................15

Dual Returns .............................................................................................................................15

Laser Output Power Level Management and Reporting ............................................................17

Noise Level Adjustment ............................................................................................................17

Upload Calibration Data ............................................................................................................18

External GPS Time Synchronization .........................................................................................18

Packet Format and Status Byte for GPS Time Stamping .......................................................19

Timestamp Accuracy Rules and Accuracy .............................................................................19

Laser Firing Sequence and Timing............................................................................................20

FirmwareUpdates...................... ...................... ....................... ............................................21

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AppendixA:MechanicalDrawings......................................................................................22

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AppendixB:ConnectorPinouts.................... ......................................................................25

Power, Serial & GPS Connector ...............................................................................................25

Ethernet Connector ...................................................................................................................25

AppendixC: DigitalSensorRecorder(DSR)..........................................................................26

Install DSR ................................................................................................................................26

Calibrate DSR ...........................................................................................................................26

Live Playback............................................................................................................................26

Record Data..............................................................................................................................27

Playback Recorded Files ..........................................................................................................27

DSR Key Controls .....................................................................................................................28

1 2 3 4 5 6 7 ... 53 54

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