Velodyne Acoustics HDL-64E S2.1 user manual PrinciPLes of oPeration, HDL-64E S2 design overview

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PrinciPLes of oPeration

HDL-64E S2 and S2.1 User’s Manual

The sensor operates, instead of a single laser firing through a rotating mirror, with 64 lasers fixed mounted on upper and lower laser blocks, each housing 32 lasers. Both laser blocks rotate as a single unit. With this design each of the lasers fires tens of thousands of times per second, providing exponentially more data points/second and a more data-intensive point cloud than a rotating mirror design. The sensor delivers a 360° horizontal Field of View (HFOV) and a 26.8° vertical FOV (31.5° VFOV for the S2.1).

Additionally, state-of-the-art digital signal processing and waveform analysis are employed to provide high accuracy, extended distance sensing and intensity data. The sensor is rated to provide usable returns up to 120 meters. The sensor employs a direct drive motor system with no belts or chains in the drive train.

See the specifications at the end of this manual for more information about sensor operating conditions.

Laser

Emitters

(Groups of 16)

Laser

Receivers

(Groups of 32)

Motor

Housing

Figure 1. HDL-64E S2 design overview.

Housing

(Entire unit spins

at 5-20 Hz)

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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 Box IntroductionS2.1 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 ViewerParameter Unit Description Values Establish communication with the sensorDb.xml Calibration Parameters Sample SERCMD.txt file Change Run-Time ParametersSample Batch File .bat 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 Digital Sensor Recorder DSR InstallAPPendix c diGitaL 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 #7657Coordinate 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 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 resoLutionSerVice 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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