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U S E R ’ S M A N U A L A N D
P R O G R A M M I N G G U I D E
Firmware Version 4.07
HDL-64E S2
and S2.1
™
High Definition LiDAR Sensor
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i S A F E T Y N O T I C E S 16 A P P E N D I X B : Wiring Diagram 1 I N T R O D U C T I O N In The Box 17 A P P E N D I X C : Digital Sensor Recorder (DSR) 2 P R I N C I P L E S O F O P E R A T I O N 17 Install 17 Calibrate 3 I N S T A L L A T I O N O V E R V I E W 17 Live Playback 3 Front/Back Mounting 18 Record Data 4 Side Mounting 18 Playback of Recorded Files 5 Top Mounting 19 DSR Key Controls 6 Wiring 19 DSR Mouse Controls 6 U S A G E 20 A P P E N D I X D : Matlab Sample Code 6 Use the Incl
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caution — safety notice Caution To reduce the risk of electric shock and to avoid violating the warranty, do not open sensor body. Refer servicing to qualified service personnel. The lightning flash with arrowhead symbol is intended to alert the user to the presence of uninsulated “dangerous voltage” within the product’s enclosure that may be of sufficient magnitude to constitute a risk of electric shock to persons. The exclamation point symbol is intended to alert the user t
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HDL-64E S2 and S2.1 User’s Manual introduction 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 B
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HDL-64E S2 and S2.1 User’s Manual PrinciPLes of oPeration 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° horizon
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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
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instaLLation oVerVieW HDL-64E S2 and S2.1 User’s Manual Side Mounting Mounting Base [152.4mm] 6.00 [203.2mm] 8.00 [21mm] [25.4mm] .83 1.00 Figure 3. Side HDL mounting illustration. [ 4 ]
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instaLLation oVerVieW HDL-64E S2 and S2.1 User’s Manual Top Mounting Four 0.41” [10.3mm] through holes for top mount option to secure the HDL to the vehicle. [33.8mm] 1.33 [177.8mm] [177.8mm] 7.00 7.00 [12.7mm] [12.7mm] .50 .50 Figure 4. Top HDL mounting illustration. [ 5 ]
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instaLLation oVerVieW HDL-64E S2 and S2.1 User’s Manual Wiring The sensor comes with a pre-wired connector, wired with power, DB9 serial and standard RJ45 Ethernet connectors. The connector wires are approximately 10’ [3 meters] in length. Power. Connect the red and black wires to vehicle power. Be sure red is positive polarity. THE SENSOR IS RATED ONLY FOR 12 - 16 VOLTS. Any voltage applied over 16 volts could damage the sensor. The sensor draws 4-6 AMPS during normal usage. The sensor doesn
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usaGe HDL-64E S2 and S2.1 User’s Manual 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 the packets as they are generated by the sensor. See Appendix E for the UDP packet format. The default source IP address for the sensor is 192.168.3.043, and the destination IP address is 192.168.3.255. To change these IP addresses,
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usaGe HDL-64E S2 and S2.1 User’s Manual 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 identifier, then a rotational value followed by 32 3-byte combinations that report on each laser fired for the block. Two bytes report distance to the nearest 0.2 c
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usaGe HDL-64E S2 and S2.1 User’s Manual 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 600 RPM) #HDLRPNnnnn$ Set spin rate from 300 to 1200 RPM nnnn is an integer between 0300 and 1200 in RAM (default is 600 RPM) #HDLIPAssssssssssssdddddddddddd$ Change source and/or destination • ssssssssssss is the source 12-digi
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usaGe HDL-64E S2 and S2.1 User’s Manual 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 rate does not change the data rate – the unit sends out the same number of packets (at a rate of ~1.3 million data points per second) regardless of its spin rate. The horizontal image resolution increases or decreases depending on rotation speed. See the Angular Resolution sec
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usaGe HDL-64E S2 and S2.1 User’s Manual 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$ where, • ssssssssssss is the source 12-digit IP address • dddddddddddd is the destination 12-digit IP address Use all 12 digits to set an IP address. Use
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1 2 3 4 5 6 7 8 usaGe HDL-64E S2 and S2.1 User’s Manual The images below show the GPS adaptor box, included with the HDL-64E, and optional GPS receiver. GPS EQUIPMENT GPS Receiver Model No. GPS Adaptor Box HDL-64-GPS Model No. (Optional) HDL-64-ADAPT (Included) GPS Adaptor Box Front & Back View # COLOR SIGNAL NAME 1 Red +12V DC Power DB-9 F 2 Black Power Ground Connect to Host Computer Serial Port 3 Yellow 1 PPS
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usaGe HDL-64E S2 and S2.1 User’s Manual Packet Format and Status Byte for GPS Time Stamping The 6 bytes at the end of the data packet report GPS timing and synchronization data. For every packet, the last 6 bytes are formatted as follows: Timestamp Bytes in Reverse Order in Microseconds Bytes Description Notes 4 GPS timestamp 32 bit unsigned integer timestamp. This value represents microseconds from the top of the hour to the first laser firing in the packet. 1 Status Type 8 bit ASCII status
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usaGe HDL-64E S2 and S2.1 User’s Manual 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 upper block 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 sensor has an equal number of upper and lower block returns. Hence, when interpreting the delay table, each sequential pair of data blocks represents the upper an
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HDL-64E S2 and S2.1 User’s Manual aPPendix a: MechanicaL draWinGs [ 15 ] 8.80 8.00 223.5 203.2 FOUR .41 [10.3] THRU FOR TOP MOUNT OPTION 8.00 7.00 177.8 203.2 7.00 ISOMETRIC VIEW 177.8 C L C L TWO M8-1.25X12MM DEEP MOUNTING POINTS (2 PER SIDE FOR A TOTAL OF 8) 10.24 1.93 260.2 49 .83 21 .71 1.27 .83 17.9 1.70 32.3 21 4.50 43.2 6.00 114.3 152.4 6.00 152.4
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aPPendix B: WirinG diaGraM HDL-64E S2 and S2.1 User’s Manual [ 16 ] Harting Technology Group Metal Version, Standard Straight Style Model No. 10-12-005-2001
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HDL-64E S2 and S2.1 User’s Manual aPPendix c: diGitaL sensor recorder (dsr) 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 the rendering and recording of point cloud data from the HDL unit. You can develop visualization software using the DSR as a reference platform. A code snippet is provided on the CD to aid in understanding the methods at which DSR parses the data points gene
