RoboSense LIDAR RS-Helios-5515 - Table of Contents

RS-Helios-1615 User Manual
III
Content
1 Safety Notices ............................................................................................................................ 1
2 Helios Series Products ............................................................................................................... 2
3 Product Appearance and Interface ........................................................................................... 3
3.1 Product Appearance .................................................................................................. 3
3.2 Aviation Plug and Pin Definition ................................................................................ 3
3.3 Interface Box ............................................................................................................. 4
4 Unboxing & Installation ............................................................................................................. 6
4.1 Standard Package ...................................................................................................... 6
4.2 Sensor Mounting ....................................................................................................... 6
4.3 Quick Connection ...................................................................................................... 8
5 Sensor Specifications and Features ......................................................................................... 10
5.1 Sensor Specification ................................................................................................ 10
5.1.1 Parameters ...................................................................................................... 10
5.2 Point Cloud Display .................................................................................................. 12
5.2.1 Coordinate Mapping........................................................................................ 12
5.3 Reflectivity ............................................................................................................... 12
5.4 Laser Return Modes ................................................................................................ 13
5.4.1 Principle of Laser Return Modes ..................................................................... 13
5.4.2 Return Mode Flag ............................................................................................ 14
5.5 Phase Locking .......................................................................................................... 14
5.6 Time Synchronization .............................................................................................. 15
5.6.1 GPS Time Synchronization ............................................................................... 15
5.6.2 The Use of GPS for Time Synchronization ....................................................... 15
5.6.3 PTP Time Synchronization ............................................................................... 16
5.6.4 PTP wiring Method .......................................................................................... 16
6 Communication Protocol ........................................................................................................ 18
6.1 MSOP and DIFOP ..................................................................................................... 18
6.2 Main Data Stream Output Protocol（MSOP） ....................................................... 19
6.2.1 Header ............................................................................................................. 19
6.2.2 Data Blocks ...................................................................................................... 20
6.2.3 Tail ................................................................................................................... 21
6.3 Device Info Output Protocol（DIFOP） .................................................................. 22
7 Vertical Angles and Precision Point Timing Calculation .......................................................... 24
7.1 Channel Number and Vertical Angle ....................................................................... 24
7.2 Exact Point Timing Calculation ................................................................................ 24
8 Troubleshooting ...................................................................................................................... 26
Appendix A Web Interface .............................................................................................................. 28
A.1 Device Screen .................................................................................................................... 28
A.2 Web Interface for Sensor Setting ...................................................................................... 28
A.3 Diagnostic Screen .............................................................................................................. 31
A.4 System Screen ................................................................................................................... 32
Appendix B Information Registers ................................................................................................... 35