Velodyne Acoustics HDL-64E S2.1 Box, Front/Back Mounting Side Mounting Top Mounting Wiring

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iS A F E T Y N O T I C E S

1I N T R O D U C T I O N

In The Box

2

P R I N C I P L E S O F O P E R A T I O N

3

I N S T A L L A T I O N O V E R V I E W

3Front/Back Mounting

4 Side Mounting

5 Top Mounting

6Wiring

6U S A G E

6Use the Included Point-cloud Viewer

6Develop Your Own Application-specific Point-cloud Viewer

7db.xml Calibration Parameters

8 Change Run-Time Parameters

10Control Spin Rate

—Change Spin Rate in Flash Memory

—Change Spin Rate in RAM Only

10Limit Horizontal FOV data Collected

11Define Sensor Memory IP Source and Destination Addresses

11Upload Calibration Data

11External GPS Time Synchronization

—GPS Receiver Option 1: Velodyne Supplied GPS Receiver

—GPS Receiver Option 2: Customer Supplied GPS Receiver

13Packet Format and Status Byte for GPS Time Stamping

13Time Stamping Accuracy Rules

13Laser Firing Sequence and Timing

14 F I R M W A R E U P D A T E

15 A P P E N D I X A : Mechanical Drawings

16A P P E N D I X B : Wiring Diagram

17A P P E N D I X C : Digital Sensor Recorder (DSR)

17Install

17Calibrate

17Live Playback

18Record Data

18Playback of Recorded Files

19DSR Key Controls

19DSR Mouse Controls

20A P P E N D I X D : Matlab Sample Code

22Reading Calibration and Sensor Parameter Data

23A P P E N D I X E : Data Packet Format

27Last Six Bytes Examples

30

A P P E N D I X

F :

Dual Two Point Calibration Methodology

34

A P P E N D I X

G :

Ethernet Transmit Timing Table

36A P P E N D I X H : Laser and Detector Arrangement

37A P P E N D I X I : Angular Resolution

38T R O U B L E S H O O T I N G

38S E R V I C E A N D M A I N T E N A N C E

39S P E C I F I C A T I O N S

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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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