Page 3 - c a u t i o n — s a f e t y n o t i c e; Caution; Read Instructions —; All operating and use instructions should be followed.
[ i ] c a u t i o n — s a f e t y n o t i c e Caution To reduce the risk of electric shock and to avoid violating the warranty, do not open sensor body. Refer servicingto qualified service personnel. The lightning flash with arrowhead symbol is intended to alert the user to the presence of uninsulat...
Page 4 - i n t r o d u c t i o n
Congratulations on your purchase of a Velodyne HDL-64E S2 or S2.1 High Definition LiDAR Sensor. These sensors represent abreakthrough 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 a...
Page 5 - P r i n c i P L e s o f o P e r at i o n
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 persecond, providing e...
Page 6 - The sensor base provides the following mounting options:; i n s ta L L at i o n o V e r V i e W
Two M8-1.25mm x12mm deep mountingpoints. (Two per side,for a total of 8.) Mounting Base [152.4mm] 6.00 [203.2mm] 8.00 [21mm] .83 [25.4mm] 1.00 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...
Page 7 - Side Mounting; Figure 3. Side HDL mounting illustration.
Mounting Base [25.4mm] 1.00 [152.4mm] 6.00 [203.2mm] 8.00 [21mm] .83 Side Mounting Figure 3. Side HDL mounting illustration. [ 4 ] H D L - 6 4 E S 2 a n d S 2 . 1 U s e r ’s M a n u a l i n s ta L L at i o n o V e r V i e W
Page 8 - Top Mounting; Figure 4. Top HDL mounting illustration.
Top Mounting Figure 4. Top HDL mounting illustration. [ 5 ] H D L - 6 4 E S 2 a n d S 2 . 1 U s e r ’s M a n u a l i n s ta L L at i o n o V e r V i e W Four 0.41” [10.3mm] throughholes for top mount option tosecure the HDL to the vehicle. [33.8mm] 1.33 [177.8mm] 7.00 [12.7mm] .50 [12.7mm] .50 [177....
Page 10 - u s a G e
The following provides more detail on each of the above steps. 1. Establish communication with the sensor. The sensor broadcasts UDP packets. By using a network monitoring tool, such as Wireshark, you can capture and observe thepackets as they are generated by the sensor. See Appendix E for the UDP ...
Page 11 - Each sensor’s LIFO data packet has a 1206 byte payload consisting; Apply the calibration factors to the data.
3. Parse the packets for rotation, block, distance and intensity data. Each sensor’s LIFO data packet has a 1206 byte payload consisting of 12 blocks of 100 byte firing data followed by 6 bytes of calibration and other information pertaining to the sensor. Each 100 byte record contains a block ident...
Page 12 - Available commands
[ 9 ] H D L - 6 4 E S 2 a n d S 2 . 1 U s e r ’s M a n u a l u s a G e Available commands The following run-time commands are available with the sensor: Command Description Parameters #HDLRPMnnnn$ Set spin rate from 300 to 1200 RPM nnnn is an integer between 0300 and 1200 n flash memory (default is ...
Page 13 - Top view of Sensor
Control Spin Rate Change Spin Rate in Flash Memory The sensor can spin at rates ranging from 300 RPM (5 Hz) to 1200 RPM (20 Hz). The default is 600 RPM (10 Hz). Changing the spin ratedoes not change the data rate – the unit sends out the same number of packets (at a rate of ~1.3 million data points ...
Page 14 - Define Sensor Memory IP Source and Destination Addresses; The HDL- 64E comes with the following default IP addresses:; Upload Calibration Data; connected to the sensor.; External GPS Time Synchronization; from the GPS device.
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$wh...
Page 17 - COM port
Lasers are numbered sequentially starting with 0 for the first lower block laser to 31 for the last lower block laser; and 32 for the first upperblock laser to 63 for the last upper block laser. For example, laser 32 fires simultaneously with laser 0, laser 33 fires with laser 1, and so on. The sens...
Page 18 - C L; FOUR; ISOMETRIC VIEW; a P P e n d i x a : M e c h a n i c a L d r aW i n G s
6.00 152.4 4.50 114.3 1.27 32.3 .83 21 (2 PER SIDE FOR A TOTAL OF 8) TWO M8-1.25X12MM DEEP MOUNTING POINTS 1.70 43.2 10.24 260.2 6.00 152.4 .83 21 1.93 49 .71 17.9 C L 8.00 203.2 7.00 177.8 7.00 177.8 8.80 223.5 FOUR .41 [10.3] THRU FOR TOP MOUNT OPTION 8.00 203.2 ISOMETRIC VIEW C L [ 15 ] H D L - 6...
Page 19 - a P P e n d i x B : W i r i n G d i a G r a M
[ 16 ] H D L - 6 4 E S 2 a n d S 2 . 1 U s e r ’s M a n u a l a P P e n d i x B : W i r i n G d i a G r a M Harting Technology Group Metal Version, Standard Straight Style Model No. 10-12-005-2001
Page 20 - Install; To install the DSR on your computer:; Calibrate; computers network configuration.; a P P e n d i x c : d i G i ta L s e n s o r r e c o r d e r ( d s r )
Digital Sensor Recorder (DSR) DSR is a 3D point-cloud visualization software program designed for use with the sensor. This software is an “out of the box” tool for therendering and recording of point cloud data from the HDL unit. You can develop visualization software using the DSR as a reference p...
Page 23 - Matlab sample code to read calibration data from HDL-64E output.; End; a P P e n d i x d : M at L a B s a M P L e c o d e
Matlab sample code to read calibration data from HDL-64E output. fileFilter = '*.pcap'; [File_name,Directory]=uigetfile(fileFilter,'Open a .pcap file') ; Filename=[Directory File_name]; tic;fid=fopen(Filename);ttc=fread(fid,40);ttc=fread(fid,42);ttc=fread(fid,inf,'1206*uint8=>uint8',58); %ttch=de...
Page 26 - Data Packet Format; a P P e n d i x e : d ata Pa c K e t f o r M at
Data Packet Format The sensor outputs UDP Ethernet packets. Each packet contains a header, a data payload of firing data and status data. Data packets areassembled with the collection of all firing data for six upper block sequences and six lower block sequences. The upper block laser distanceand in...
Page 27 - Firmware version 4.07
[ 24 ] H D L - 6 4 E S 2 a n d S 2 . 1 U s e r ’s M a n u a l a P P e n d i x e : d ata Pa c K e t f o r M at Firmware version 4.07 (sheet 1 of 3 ) Version 4.07 47
Page 29 - Threshold
[ 26 ] H D L - 6 4 E S 2 a n d S 2 . 1 U s e r ’s M a n u a l a P P e n d i x e : d ata Pa c K e t f o r M at Firmware version 4.07 (sheet 3 of 3 ) Threshold A8 Both = 2 Strongest = 0 Last = 1
Page 30 - Last Six Bytes Examples
[ 27 ] H D L - 6 4 E S 2 a n d S 2 . 1 U s e r ’s M a n u a l a P P e n d i x e : d ata Pa c K e t f o r M at Last Six Bytes Examples Examples of the last row of 11 consecutive packets follows. In all cases, the “seconds” figure represents the origin of the packetexpressed in seconds since the top o...
Page 32 - Not used
PACKET #7657: PACKET #7658: [ 29 ] H D L - 6 4 E S 2 a n d S 2 . 1 U s e r ’s M a n u a l a P P e n d i x e : d ata Pa c K e t f o r M at Not used (Spare) Not used (Spare)
Page 33 - a P P e n d i x f : d u a L t W o P o i n t c a L i B r at i o n M e t h o d o L o G y; Dual Two Point Calibration Methodology and Code Samples; The formula for the calibration value is as follows:; Coordinate Calculation Algorithm Sample Code; // Corrected distance by distance calibration at 25.04m
[ 30 ] H D L - 6 4 E S 2 a n d S 2 . 1 U s e r ’s M a n u a l a P P e n d i x f : d u a L t W o P o i n t c a L i B r at i o n M e t h o d o L o G y D y = D 1 y + ( D 2 - D 1 y ) ( x - 0) _______ ( x 2 - 0) D x = D 1 x + ( D 2 - D 1 x ) ( x - x 1 ) _______ ( x 2 - x 1 ) Dual Two Point Calibration Me...
Page 35 - Intensity Compensation vs Distance; // Calculate offset according calibration; focalDistance
[ 32 ] H D L - 6 4 E S 2 a n d S 2 . 1 U s e r ’s M a n u a l a P P e n d i x f : d u a L t W o P o i n t c a L i B r at i o n M e t h o d o L o G y Intensity Compensation vs Distance Intensity compensation is done in the software for different channels by changing a parameter in the calibration win...
Page 36 - // Calculate corrected intensity vs distance
// Calculate corrected intensity vs distance float intensityVal1 = intensityVal + focalslope*(abs(focaloffset-256*(1- distance/65535)*(1-distance/65535))); if (intensityVal1 < minIntensity) intensityVal1=minIntensity; if (intensityVal1 > maxIntensity) intensityVal1=maxIntensity; // Scale to ne...
Page 37 - HDL-64E Ethernet Timing Table Overview; a P P e n d i x G : e t h e r n e t t r a n s i t t i M i n G ta B L e
HDL-64E Ethernet Timing Table Overview The Ethernet Timing Table shows how much time elapses between the actual capturing of a point’s data event and when that point is anevent output from the sensor. By registering the event of the Ethernet data capture, you can calculate back in time the exact tim...
Page 38 - How to use this table; Laser
How to use this table The table represents a sensor data packet. The laser returns come out in the order listed. Simply subtract from the timestamp of the outputevent of the packet each data value to arrive at the actual time the distance point was captured inside the sensor. [ 35 ] H D L - 6 4 E S ...
Page 39 - a P P e n d i x h : L a s e r a n d d e t e c t o r a r r a n G e M e n t; SENSOR BEAM ON THE WALL
[ 36 ] H D L - 6 4 E S 2 a n d S 2 . 1 U s e r ’s M a n u a l a P P e n d i x h : L a s e r a n d d e t e c t o r a r r a n G e M e n t SENSOR BEAM ON THE WALL AS SEEN ON CAMERA IN NIGHT VISION MODE SENSOR AS SEEN FROM THE BACK OF THE UNIT
Page 40 - a P P e n d i x i : a n G u L a r r e s o L u t i o n
RPM RPS Total Laser Points Points Per Laser Angular Resolution (Hz) per Revolution per Revolution (degrees) 300 5 266,627 4167 .0864 600 10 133,333 2083 .1728 900 15 88,889 1389 .2592 1200 20 66,667 1042 .3456 notes: These values apply equally to the upper and lower block. [ 37 ] H D L - 6 4 E S 2 a...
Page 41 - t r o u B L e s h o o t i n G; Use this chart to troubleshoot common problems with the sensor.; Problem Resolution; Unit doesn’t spin Verify power connection and polarity.
[ 38 ] H D L - 6 4 E S 2 a n d S 2 . 1 U s e r ’s M a n u a l t r o u B L e s h o o t i n G s e r V i c e a n d M a i n t e n a n c e Use this chart to troubleshoot common problems with the sensor. Use this chart to troubleshoot common problems with the sensor. Problem Resolution Unit doesn’t spin V...
Page 42 - s P e c i f i c at i o n s
[ 39 ] H D L - 6 4 E S 2 a n d S 2 . 1 U s e r ’s M a n u a l s P e c i f i c at i o n s Sensor: Laser: Mechanical: Output: Dimensions(H/W/D): Shipping Weight:(approx.) • 64 lasers/detectors • 360 degree field of view (azimuth) • 0.09 degree angular resolution (azimuth) • Vertical Field of View: S2:...
