Velodyne Acoustics HDL-64E S2.1 user manual Introduction, Box

Page 4

introduction

HDL-64E S2 and S2.1 User’s Manual

Congratulations on your purchase of a Velodyne HDL-64E S2 or S2.1 High Definition LiDAR Sensor. These sensors represent a breakthrough in sensing technology by providing more information about the surrounding environment than previously possible. The HDL-64E S2 or S2.1 High Definition LiDAR sensors are referred to as the sensor throughout this manual.

This manual and programming guide covers:

•Installation and wiring

•HDL-64-ADAPT (GPS Adaptor Box)

•The data packet format

•The serial interface

•Software updates

•GPS installation notes

•Viewing the data

•Programming information

This manual applies to the two versions of the HDL-64E sensor, the S2 and S2.1, unless otherwise indicated. The table below compares the laser layout, vertical field of view (VFOV) and primary application of the two versions.

HDL-64E Version

Lower Laser Block

 

Upper Laser Block

Vertical Field of View (VFOV)

Primary Application

 

 

 

 

 

 

 

S2

32 lasers separated by

 

32 lasers separated by

+2 to -24.8°

Autonomous navigation

 

½° vertical spacing

 

1/3° vertical spacing

 

 

 

 

 

 

 

 

S2.1

32 lasers separated by

 

32 lasers separated by

31.5°

3D mapping

(dual lower block)

½° vertical spacing

 

½° vertical spacing

 

 

 

 

 

 

 

 

For the latest updates to this manual – check www.velodynelidar.com.

In the Box

Each shipment contains:

•Sensor

•HDL-64-ADAPT (GPS Adaptor Box)

•Wiring harness

•CD with user manual, calibration file (db.xml), timing table calculation file (.xls) and DSR viewer

[ 1 ]

Page 3 Page 5
Image 4
Page 3 Page 5
Contents HDL-64E S2 and S2.1 E R ’ S M a N U a L a N DFront/Back Mounting Side Mounting Top Mounting Wiring BoxReading Calibration and Sensor Parameter Data Last Six Bytes ExamplesPage S2.1 IntroductionBox PrinciPLes of oPeration HDL-64E S2 design overviewInstaLLation oVerVieW Front/Back MountingSide Mounting Side HDL mounting illustrationTop Mounting Top HDL mounting illustrationWiring UsaGeUse 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 Available commands Command Description ParametersControl Spin Rate Limit Horizontal FOV Data CollectedDefine Sensor Memory IP Source and Destination Addresses DestinationUpload Calibration Data External GPS Time SynchronizationGPS Equipment Packet Format and Status Byte for GPS Time Stamping Time Stamping Accuracy RulesGPS Connection Timestamp Info Accuracy Laser Firing Sequence and TimingFirMWare uPdate HDL software update screen captureIsometric View APPendix a MechanicaL draWinGsAPPendix B WirinG diaGraM APPendix c diGitaL sensor recorder dsr InstallDigital Sensor Recorder DSR APPendix c diGitaL sensor recorder dsr Click the Record buttonZoom Axis RotationShift 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 #7658Dual 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 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 RPSProblem 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.
Top Page Image Contents