Velodyne lidar 威力登64线激光雷达用户手册63-HDL64ES3 REV J MANUAL,USERS AND PROGRAM GUIDE,HDL-64E S3.pdf

USER’S MA NUA L A ND PROGRAM MING GUIDE HDL-64E S3 Hig h Definit io n LiDAR Se nsor HDL-64E S3 High Definition LiDAR Sensor Page 2 Table of Contents Safety Notices 4 Caution 4 Introduction 5 In the Box 5 Principles of Operation 6 Installation 8 Mounting 8 W iring 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 Adj ustment 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 Timing20 Firmware Updates 21 Appendix A: Mechanical Drawings 22 Appendix B: Connector Pin outs 25 Power, Serial GPS Connector 25 Ethernet Connector 25 Appendix C: Digital Sensor Recorder (DSR) 26 Install DSR26 Calibrate DSR 26 Live Playback26 Record Data27 Playback Recorded Files 27 DSR Key Controls 28 Velodyne LiDAR, Inc. ©2017 63-HDL64ES3 REV J HDL-64E S3 High Definition LiDAR Sensor Page 3 Appendix D: MATLAB Sample Code 29 C