Velodyne Acoustics HDL-64E S2 user manual Control Spin Rate, Limit Horizontal FOV Data Collected

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HDL-64E S2 and S2.1 User’s Manual

 

 

Control Spin Rate

Change Spin Rate in Flash Memory

The sensor can spin at rates ranging from 300 RPM (5 Hz) to 1200 RPM (20 Hz). The default is 600 RPM (10 Hz). Changing the spin rate does not change the data rate – the unit sends out the same number of packets (at a rate of ~1.3 million data points per second) regardless of its spin rate. The horizontal image resolution increases or decreases depending on rotation speed.

See the Angular Resolution section found in Appendix I for the angular resolution values for various spin rates.

To control the sensor’s spin rate, issue a serial command of the case sensitive format #HDLRPMnnnn$ where nnnn is an integer between 0300 and 1200. The sensor immediately adopts the new spin rate. You don’t need to power cycle the unit, and the new RPM is retained with future power cycles.

Change Spin Rate in RAM Only

If repeated and rapid updates to the RPM are needed, such as for synchronizing multiple sensors controlled by a closed loop application, you can adjust the sensors’ spin rates without storing the new RPM in flash memory (this preserves flash memory over time).

To control the sensor’s spin rate in RAM only, issue a serial command of the case sensitive format #HDLRPNnnnn$ where nnnn is an integer between 0300 and 1200. The sensor immediately adopts the new spin rate. You shouldn’t power cycle the sensor as the new RPM is lost with future power cycles, which returns to the last known RPM.

Limit Horizontal FOV Data Collected

The sensor defaults to a 360° surrounding view of its environment. It may be desirable to reduce this horizontal Field of View (HFOV) and, hence, the data created.

To limit the horizontal FOV, issue a serial command of the case sensitive format #HDLFOVsssnnn$ where:

•sss = starting angle in degrees; sss is an integer between 000 and 360

•nnn = ending angle in degrees; nnn is an integer between 000 and 360

The HDL unit immediately adopts the new HFOV angles without power cycling and will retain the new HFOV settings upon power cycle.

Regardless of the FOV setting, the lasers will always fire at the full 360° HFOV. Limiting the HFOV only limits data transmission to the HFOV of interest.

The following diagram shows the HFOV from the top view of the sensor.

Case 1: FOV 0° to 360°

FOV command: #HDLFOV000360$

Case 2: FOV 0° to 90°

FOV command: #HDLFOV000090$

Case 3: FOV -90° to 90°

FOV command: #HDLFOV270090$

Top view of Sensor

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Contents E R ’ S M a N U a L a N D HDL-64E S2 and S2.1Box Front/Back Mounting Side Mounting Top Mounting WiringReading Calibration and Sensor Parameter Data Last Six Bytes ExamplesPage S2.1 IntroductionBox HDL-64E S2 design overview PrinciPLes of oPerationFront/Back Mounting InstaLLation oVerVieWSide HDL mounting illustration Side MountingTop HDL mounting illustration Top MountingUsaGe WiringUse the Included Point-cloud Viewer Develop Your Own Application-specific Point-cloud ViewerDb.xml Calibration Parameters Establish communication with the sensorParameter Unit Description Values Sample Batch File .bat Change Run-Time ParametersSample SERCMD.txt file Command Description Parameters Available commandsLimit Horizontal FOV Data Collected Control Spin RateDestination Define Sensor Memory IP Source and Destination AddressesUpload Calibration Data External GPS Time SynchronizationGPS Equipment Time Stamping Accuracy Rules Packet Format and Status Byte for GPS Time StampingGPS Connection Timestamp Info Accuracy Laser Firing Sequence and TimingHDL software update screen capture FirMWare uPdateAPPendix a MechanicaL draWinGs Isometric ViewAPPendix B WirinG diaGraM APPendix c diGitaL sensor recorder dsr InstallDigital Sensor Recorder DSR Click the Record button APPendix c diGitaL sensor recorder dsrAxis Rotation ZoomShift RotationalAPPendix d MatLaB saMPLe code APPendix d MatLaB saMPLe code Status Type Ascii Value Interpretation and Scaling Data Packet Format APPendix e data PacKet forMatFirmware version 4.07 sheet 1 Firmware version 4.07 sheet 2 Firmware version 4.07 sheet 3 Last Six Bytes Examples 40 = Ver Packet #7658 Packet #7657Dual Two Point Calibration Methodology and Code Samples APPendix f duaL tWo Point caLiBration MethodoLoGyCoordinate Calculation Algorithm Sample Code APPendix f duaL tWo Point caLiBration MethodoLoGy Calibration Window Intensity Compensation vs DistanceIntensity Value Corrected by Distance Code APPendix f duaL tWo Point caLiBration MethodoLoGy HDL-64E Ethernet Timing Table Overview APPendix G ethernet transit tiMinG taBLeLaser Numbers 0-7 & 32-39 Lower,Upper How to use this table The table represents a sensorAPPendix h Laser and detector arranGeMent RPM RPS APPendix i anGuLar resoLutionProblem Resolution TrouBLeshootinGSerVice and Maintenance SPecifications Velodyne LiDAR, Inc

HDL-64E S2, HDL-64E S2.1 specifications

The Velodyne Acoustics HDL-64E S2.1 and HDL-64E S2 represent cutting-edge advancements in Lidar technology, specifically designed for autonomous vehicle navigation and mapping applications. These high-definition lidar sensors are acclaimed for their precision, reliability, and robustness, making them indispensable tools in various industries, from robotics to transportation.

One of the defining features of the HDL-64E series is its 64 laser channels, which allow for high-resolution 3D mapping of the environment. This multi-channel design significantly improves the sensor's ability to capture fine details in the surrounding area, providing a complete spatial representation necessary for autonomous driving. The HDL-64E S2.1 and S2 can generate dense point clouds with over 1.3 million points per second, facilitating real-time data acquisition and processing capabilities.

The HDL-64E series employs advanced technologies for optimal performance. Its 360-degree horizontal field of view and a vertical field of view ranging from -15 to +15 degrees allow the sensors to detect and classify objects in a comprehensive manner. This feature is crucial for ensuring the safety and efficacy of autonomous vehicles, as it enables them to perceive their surroundings from multiple angles.

In terms of accuracy, the HDL-64E models boast a measurement range of up to 120 meters, with an accuracy of ±2 centimeters. This level of precision ensures that autonomous systems can make informed decisions based on reliable data, essential for avoiding obstacles and navigating complex environments.

The sensors are designed to operate effectively in a range of environmental conditions. With IP67-rated waterproofing and robustness against dust and debris, the HDL-64E S2.1 and S2 are built to withstand challenging operating environments, thus ensuring continuous, dependable performance.

Integration of the HDL-64E series into existing systems is streamlined, thanks to its advanced Ethernet interface. This functionality makes it easier for developers to incorporate the Lidar data into existing software frameworks, enhancing the usability of the sensor in various applications.

In summary, the Velodyne Acoustics HDL-64E S2.1 and HDL-64E S2 represent a significant leap forward in Lidar technology, featuring high-resolution mapping, advanced detection capabilities, and rugged design. These characteristics make them an ideal choice for companies looking to implement reliable and precise sensing solutions in their autonomous systems.
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