Velodyne Acoustics HDL-64E S2.1 Define Sensor Memory IP Source and Destination Addresses

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HDL-64E S2 and S2.1 User’s Manual

 

 

Define Sensor Memory IP Source and Destination Addresses

The HDL-64E comes with the following default IP addresses:

•Source: 192.168.3.043

•Destination: 192.168.3.255

To change either of the above IP addresses, issue a serial command of the case sensitive format #HDLIPAssssssssssssdddddddddddd$ where,

•ssssssssssss is the source 12-digit IP address

•dddddddddddd is the destination 12-digit IP address

Use all 12 digits to set an IP address. Use 0 (zeros) where a digit would be absent. For example, 192168003043 is the correct syntax for IP address 192.168.3.43.

The unit must be power cycled to adopt the new IP addresses.

Upload Calibration Data

Sensors use the db.xml file exclusively for calibration data. The calibration data found in db.xml can be uploaded and saved to the unit’s flash memory by following the steps outlined below.

1.Locate the files HDLCAL.bat, loadcal.exe, and db.xml on the CD and copy them to the same directory on your PC connected to the sensor.

2.Edit HDLCAL.bat to ensure the copy command lists the right COM port for RS-232 communication with the sensor.

3.Run HDLCAL.bat and ensure successful completion.

4.The sensor received and saved the calibration data.

To verify successful load of the calibration data, ensure the date and time of the upload have been updated. Refer to Appendix E for where in the data packets this data can be located.

External GPS Time Synchronization

The sensor can synchronize its data with precision GPS-supplied time pulses so you can ascertain the exact firing time of each laser in any particular packet. The firing time of the first laser in a particular packet is reported in the form of microseconds since the top of the hour, and from that time each subsequent laser’s firing time can be derived via the table published in Appendix H and included on the CD.

Calculating the exact firing time requires a GPS receiver generating a sync pulse and the $GPRMC NMEA record over a dedicated RS-232 serial port. The output from the GPS receiver is connected to an external GPS adaptor box supplied by Velodyne that conditions the signal and passes it to the sensor. The GPS receiver can either be supplied by Velodyne or the customer can adapt their GPS receiver to provide the required sync pulse and NMEA record.

GPS Receiver Option 1: Velodyne Supplied GPS Receiver

Velodyne provides an optional pre-programmed GPS receiver (HDL-64-GPS) This receiver is pre-wired with an RS-232 connector that plugs into the GPS adapter box. To obtain a pre-programmed GPS receiver, contact Velodyne sales or service.

GPS Receiver Option 2: Customer Supplied GPS Receiver

You can supply and configure your own GPS device. If using your own GPS device:

•Issue a once-a-second synchronization pulse, typically output over a dedicated wire.

•Configure an available RS-232 serial port to issue a once-a-second $GPRMC NMEA record. No other output can be accepted from the GPS device.

•Issue the sync pulse and NMEA record sequentially.

•The sync pulse length is not critical (typical lengths are between 20ms and 200ms)

•Start the $GPRMC record between 50ms and 500ms after the end of the sync pulse.

•Configure the $GPRMC record either in the hhmmss or hhmmss.s format.

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Contents HDL-64E S2 and S2.1 E R ’ S M a N U a L a N DReading Calibration and Sensor Parameter Data Front/Back Mounting Side Mounting Top Mounting WiringBox Last Six Bytes ExamplesPage Box IntroductionS2.1 PrinciPLes of oPeration HDL-64E S2 design overviewInstaLLation oVerVieW Front/Back MountingSide Mounting Side HDL mounting illustrationTop Mounting Top HDL mounting illustrationUse the Included Point-cloud Viewer WiringUsaGe Develop Your Own Application-specific Point-cloud ViewerParameter Unit Description Values Establish communication with the sensorDb.xml Calibration Parameters Sample SERCMD.txt file Change Run-Time ParametersSample Batch File .bat Available commands Command Description ParametersControl Spin Rate Limit Horizontal FOV Data CollectedUpload Calibration Data Define Sensor Memory IP Source and Destination AddressesDestination External GPS Time SynchronizationGPS Equipment GPS Connection Timestamp Info Accuracy Packet Format and Status Byte for GPS Time StampingTime Stamping Accuracy Rules Laser Firing Sequence and TimingFirMWare uPdate HDL software update screen captureIsometric View APPendix a MechanicaL draWinGsAPPendix B WirinG diaGraM Digital Sensor Recorder DSR InstallAPPendix c diGitaL sensor recorder dsr APPendix c diGitaL sensor recorder dsr Click the Record buttonShift ZoomAxis Rotation RotationalAPPendix d MatLaB saMPLe code APPendix d MatLaB saMPLe code Status Type Ascii Value Interpretation and Scaling APPendix e data PacKet forMat 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 #7657 Packet #7658Coordinate Calculation Algorithm Sample Code APPendix f duaL tWo Point caLiBration MethodoLoGyDual Two Point Calibration Methodology and Code Samples APPendix f duaL tWo Point caLiBration MethodoLoGy Intensity Value Corrected by Distance Code Intensity Compensation vs DistanceCalibration Window APPendix f duaL tWo Point caLiBration MethodoLoGy APPendix G ethernet transit tiMinG taBLe HDL-64E Ethernet Timing Table OverviewHow to use this table The table represents a sensor Laser Numbers 0-7 & 32-39 Lower,UpperAPPendix h Laser and detector arranGeMent APPendix i anGuLar resoLution RPM RPSSerVice and Maintenance TrouBLeshootinGProblem Resolution 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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