InstaLLation oVerVieW

HDL-64E S2 and S2.1 User’s Manual

The sensor base provides the following mounting options:

•Front/Back mount (Figure 2)

•Side mount (Figure 3)

•Top mount (Figure 4)

The sensor can be mounted at any angle from 0 to 90° with respect to its base. Refer to Appendix A for complete dimensions. For all mounting options, mount the sensor to withstand vibration and shock without risk of detachment. Although helpful for longer life, the unit doesn’t need to be shock proofed as it’s designed to withstand standard automotive G-forces.

The sensor is weatherproofed to withstand wind, rain and other adverse weather conditions. The spinning of the sensor helps it shed excess water from the front window that could hamper performance.

Front/Back Mounting

[152.4mm]

6.00

[203.2mm]

8.00

[21mm]

.83

[25.4mm]

1.00

Two M8-1.25mm x 12mm deep mounting points. (Two per side, for a total of 8.)

Mounting

Base

Figure 2. Front and back HDL mounting illustration.

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Image 6

Velodyne Acoustics HDL-64E S2.1 user manual InstaLLation oVerVieW, Front/Back Mounting

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.

Contents

HDL-64E S2 and S2.1 E R ’ S M a N U a L a N D Reading Calibration and Sensor Parameter Data Front/Back Mounting Side Mounting Top Mounting WiringBox Last Six Bytes ExamplesPage Introduction S2.1Box PrinciPLes of oPeration HDL-64E S2 design overview InstaLLation oVerVieW Front/Back Mounting Side Mounting Side HDL mounting illustration Top Mounting Top HDL mounting illustration Use the Included Point-cloud Viewer WiringUsaGe Develop Your Own Application-specific Point-cloud Viewer Establish communication with the sensor Db.xml Calibration ParametersParameter Unit Description Values Change Run-Time Parameters Sample Batch File .batSample SERCMD.txt file Available commands Command Description Parameters Control Spin Rate Limit Horizontal FOV Data Collected Upload Calibration Data Define Sensor Memory IP Source and Destination AddressesDestination External GPS Time Synchronization GPS Equipment GPS Connection Timestamp Info Accuracy Packet Format and Status Byte for GPS Time StampingTime Stamping Accuracy Rules Laser Firing Sequence and Timing FirMWare uPdate HDL software update screen capture Isometric View APPendix a MechanicaL draWinGs APPendix B WirinG diaGraM Install APPendix c diGitaL sensor recorder dsrDigital Sensor Recorder DSR APPendix c diGitaL sensor recorder dsr Click the Record button Shift ZoomAxis Rotation Rotational APPendix d MatLaB saMPLe code APPendix d MatLaB saMPLe code Status Type Ascii Value Interpretation and Scaling APPendix e data PacKet forMat Data Packet Format Firmware 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 #7658 APPendix f duaL tWo Point caLiBration MethodoLoGy Dual Two Point Calibration Methodology and Code SamplesCoordinate Calculation Algorithm Sample Code APPendix f duaL tWo Point caLiBration MethodoLoGy Intensity Compensation vs Distance Calibration WindowIntensity Value Corrected by Distance Code APPendix f duaL tWo Point caLiBration MethodoLoGy APPendix G ethernet transit tiMinG taBLe HDL-64E Ethernet Timing Table Overview How to use this table The table represents a sensor Laser Numbers 0-7 & 32-39 Lower,Upper APPendix h Laser and detector arranGeMent APPendix i anGuLar resoLution RPM RPS TrouBLeshootinG Problem ResolutionSerVice and Maintenance SPecifications Velodyne LiDAR, Inc