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Velodyne Acoustics HDL-64E S2.1 manual

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Table of contents for the manual

  • Page 1

    HDL-64E S2 and S2.1 High Definitio n LiD AR ™ Sensor USER’S MANUAL AND PROGRAMMING GUIDE Firmware Version 4.07[...]

  • Page 2

    i 1 2 3 3 4 5 6 6 6 6 7 8 10 10 1 1 1 1 1 1 13 13 13 14 15 SAFETY NOTICES INTRODUCTION In The Box PRINCIPLES OF OPERA TION INST ALLA TION OVERVIEW Front/Back Mounting Side Mounting T op Mounting Wiring USAGE Use the Included Point-cloud Viewer Develop Y our Own Application-specific Point-cloud Viewer db.xml Calibration Parameters Change Run-Time Pa[...]

  • Page 3

    [ i ]   Ca utio n T o 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 “dangero[...]

  • Page 4

    Congratulations on your purchase of a V elodyne 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 man[...]

  • Page 5

    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 [...]

  • Page 6

    T wo M8-1.25mm x 12mm deep mounting points. (T wo 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) • T op mount (Figure 4) The sensor can be mounted at any angle from 0 to 90° with re[...]

  • Page 7

    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 ] HDL-64E S2 and S2.1 User’s Manual    [...]

  • Page 8

    T op Mounting Figure 4. T op HDL mounting illustration. [ 5 ] HDL-64E S2 and S2.1 User’s Manual     Four 0.41” [10.3mm] through holes for top mount option to secure the HDL to the vehicle. [33.8mm] 1.33 [177.8mm] 7.00 [12.7mm] .50 [12.7mm] .50 [177.8mm] 7.00[...]

  • Page 9

    W iring 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 RA TED ONL Y FOR 12 - 16 VOL TS. Any voltage applied [...]

  • Page 10

    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[...]

  • Page 11

    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 [...]

  • Page 12

    [ 9 ] HDL-64E S2 and S2.1 User’s Manual  A vailable 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 [...]

  • Page 13

    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 ho[...]

  • Page 14

    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 T o change either of the above IP addresses, issue a serial command of the case sensitive format #HDLIP Assssssssssssdddddddddddd$ where, • ssssssssssss is the source 12-digi[...]

  • Page 15

    The images below show the GPS adaptor box, included with the HDL-64E, and optional GPS receiver . [ 12 ] HDL-64E S2 and S2.1 User’s Manual  G P S E Q U I P M E N T GPS Adaptor Box Front & Back View GPS Adaptor Box Model No. HDL-64-AD APT (Included) 1 2 3 4 5 6 7 8 # COLOR SIGNAL NAME 1 Red +12V DC Po wer 2 Black Po wer Ground 3[...]

  • Page 16

    Packet Format and Status Byte for GPS T ime 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 micr[...]

  • Page 17

    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 r[...]

  • Page 18

    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 ] HDL-64E S2 and S2.1 User’s Manual ?[...]

  • Page 19

    [ 16 ] HDL-64E S2 and S2.1 User’s Manual     Harting T echnology Group Metal Version, Standard Straight Style Model No. 10-12-005-2001[...]

  • Page 20

    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. Y ou can develop visualization software using the DSR as a reference platform. A code snippet is provided on the C[...]

  • Page 21

    Record Data 1. Confirm the input of streaming data through the live playback feature. 2. Click the Record button . RECORD button = 5. Enter the name and location for the pcap file to be created. 6. Recording begins immediately once the file information has been entered. 7. Click Record again to discontinue the capture. 8. String multiple recordings[...]

  • Page 22

    DSR Key Controls Zoom: Z = Zoom in Shift, Z = Zoom out Z Axis Rotation: Y = Rotate CW Shift, Y = Rotate CCW X Axis Rotation: P = Rotate CW Shift, P = Rotate CCW Y Axis Rotation: R = Rotate CW Shift, R = Rotate CCW Z Shift: F = Forward B = Back X Shift: L = Left H = Right Y Shift: U = Up D = Down Aux. Functions: Ctrl, (Z,Y ,P ,R,F ,B,L,H,U,D) Direct[...]

  • Page 23

    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=dec2hex(ttc); % De[...]

  • Page 24

    % Add high and low bytes of Rotational Correction Factor together and check if positive or negative correction factor. RotationalCorr(i)=temp(5)*256+temp(4); if RotationalCorr(i)>32768 RotationalCorr(i)=RotationalCorr(i)-65536; End % Scale Rotational Correction Factor by Diving by 100. RotationalCorr(i)=RotationalCorr(i)/100; % Add high and low [...]

  • Page 25

    Version=dec2hex(value(s-1)) Temperature=value(s-2) GPS=value(s-3) speed=single(value(s-48))+single(value(s-47))*256 Fov_start=single(value(s-46))+single(value(s-45))*256 Fov_end=single(value(s-44))+single(value(s-43))*256 warning=value(s-13) power=value(s-12) Humidity=value(s-58) % Done with Unit Parameters. Reading Calibration and Sensor Parameter[...]

  • Page 26

    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 are assembled with the collection of all firing data for six upper block sequences and six lower block sequences. The upper block laser distance and intensity data is collected first followed by the[...]

  • Page 27

    [ 24 ] HDL-64E S2 and S2.1 User’s Manual         Firmware version 4.07 (sheet 1 of 3 ) V ersion 4.07 47[...]

  • Page 28

    [ 25 ] HDL-64E S2 and S2.1 User’s Manual         Firmware version 4.07 (sheet 2 of 3 ) Upper Block Threshold FE FF * For Laser 63, these bytes will contain the time stamp representing when the calibration data was uploaded in the following sequence: Lower Bl[...]

  • Page 29

    [ 26 ] HDL-64E S2 and S2.1 User’s Manual         Firmware version 4.07 (sheet 3 of 3 ) Threshold A8 Both = 2 Strongest = 0 Last = 1[...]

  • Page 30

    [ 27 ] HDL-64E S2 and S2.1 User’s Manual         Last Six Bytes Examples Examples of the last row of 1 1 consecutive packets follows. In all cases, the “seconds” figure represents the origin of the packet expressed in seconds since the top of the hour . [...]

  • Page 31

    P ACKET #7652: P ACKET #7653: P ACKET #7654: P ACKET #7655: P ACKET #7656: [ 28 ] HDL-64E S2 and S2.1 User’s Manual         40 = V er 4.07 47[...]

  • Page 32

    P ACKET #7657: P ACKET #7658: [ 29 ] HDL-64E S2 and S2.1 User’s Manual         Not used (Spare) Not used (Spare)[...]

  • Page 33

    [ 30 ] HDL-64E S2 and S2.1 User’s Manual      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 T wo Point Calibration Me[...]

  • Page 34

    float cosRotCorrection = cal->getCosRotCorrection(); float sinRotCorrection = cal->getSinRotCorrection(); float cosRotAngle = rotCosTable[data->position]*cosRotCorrection + rotSinTable[data->position]*sinRotCorrection; float sinRotAngle = rotSinTable[data->position]*cosRotCorrection - rotCosTable[data->position]*sinRotCorrection; [...]

  • Page 35

    [ 32 ] HDL-64E S2 and S2.1 User’s Manual      Intensity Compensation vs Distance Intensity compensation is done in the software for different channels by changing a parameter in the calibration wind[...]

  • Page 36

    // 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 new intensity scale float intensityColor = (float)(i[...]

  • Page 37

    HDL-64E Ethernet Timing T able Overview The Ethernet Timing T able shows how much time elapses between the actual capturing of a point’s data event and when that point is an event output from the sensor . By registering the event of the Ethernet data capture, you can calculate back in time the exact time at which any particular distance point was[...]

  • Page 38

    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 output event of the packet each data value to arrive at the actual time the distance point was captured inside the sensor. [ 35 ] HDL-64E S2 and S2.1 User’s Manual ?[...]

  • Page 39

    [ 36 ] HDL-64E S2 and S2.1 User’s Manual   SENSOR BEAM ON THE WALL AS SEEN ON CAMERA IN NIGHT VISION MODE SENSOR AS SEEN FROM THE BACK OF THE UNIT[...]

  • Page 40

    RPM RPS T otal 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  These values apply equally to the upper and lower block. [ 37 ] HDL-64E S2 and S2.1 User’s Manual ?[...]

  • Page 41

    [ 38 ] HDL-64E S2 and S2.1 User’s Manual    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 Verify power connection[...]

  • Page 42

    [ 39 ] HDL-64E S2 and S2.1 User’s Manual   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: +2 — -8.33 @ 1/3 degree spacing -8.83 ?[...]

  • Page 43

    V elodyne LiDAR, Inc. 345 Digital Drive Morgan Hill, CA 95037 408.465.2800 voice 408.779.9227 fax 408.779.9208 service fax www .velodynelidar .com Service E mail: lidarservice@velodyne.com Product E mail: help@velodyne.com T echnical E mail: lidarhelp@velodyne.com Sales E mail: lidar@velodyne.com All Velodyne products are made in the U.S.A. Specifi[...]