HDL-64E Users Manual
Contents
1. DAU g ana Ma Correction Angles a 3 5 ee Re UN eae 7 s Gontrollina the Spin Babe uu bb kun kat eek eee SSPE ta 7 Hirmware Jpdat 5 KO Rana aya or ac all bd 7 Troubleshooting ne ee eee TA a Pee t mala alee 8 Specifications 9 Appendix A Laser Correction Factors and Data Packet Construction Interpretation 10 Appendix B Connector Wiring Diagram 12 Appendix C Angular 13 WWW VELODYNE COM HDL 64E User s Manual ii INTRODUCTION Congratulations on your purchase of a Velodyne HDL 64E High Definition Lidar Sensor This product represents a breakthrough in sensing technology by providing exponentially more information about the surrounding environment than previously possible This guide first covers installation and wiring then addresses output packet construction and interpretation and finally discusses the serial interface to the unit and software updates This manual is undergoing constant revision and improvement check www velodyne com lidar for updates WWW VELODYNE COM HDL 64E User s Manual 1 PRINCIPLES OF OPERATION The HDL 64E operates on a rather simple premise instead of a single laser firing through a rotating mirror 64 laser2. 6 LH 1 LANYSLHA 5 aN B 2 F YOLOANNOO LANYSHLA ssouJeH ooej19ju 5 YOLOANNOO VIH3S 12 HDL 64E User s Manual WWW VELODYNE COM APPENDIX ANGULAR RESOLUTION Lower Block 300 5 600 10 900 15 Points Per Revolution Upper Block 300 5 600 10 900 15 Notes Points Per Revolution 200000 100000 66667 Points Per Revolution Per Laser Points Per Revolution Per Laser The HDL 64E generates 1 million points per second e The lower block reports 250 000 points e The upper block reports 750 000 points Angular Resolution degrees Angular Resolution degrees Post Lower Block Angular Resolution degrees There are three upper block packets then one lower block packet reported then the pattern repeats The first upper block measurement after the lower block measurement reports has half the angular resolution WWW VELODYNE COM HDL 64E User s Manual 13 Velodyne Acoustics Inc 345 Digital Drive Morgan Hill 95037 408 465 2800 voice 408 779 9227 fax 408 779 9208 service fax www velodyne com Service E mail service velodyne com Product E mail helpG velodyne com Technical E mail techhelp Ovelodvne com Sales E mail lidar Ovelodvne com Cir 63 HDL 64E Rev B JUNO7 WWW VELODYNE COM HDL G4E
3. 8 w x h Upper Block 6 100 feet 4 x 8 w x h Mechanical e 12 16V input 4 Amps max e 10 tall cylinder of 8 OD radius e 100 MBPS Ethernet with WWW VELODYNE COM HDL 64E User s Manual 9 APPENDIX A LASER CORRECTION FACTORS AND DATA PACKET CONSTRUCTION INTERPRETATION Laser Number M gt Firing Order Upper 32 Lasers Header OxEEFF RCF 4 9542347365 2 8147367929 2 8147367929 4 9542347365 0 6935618777 1 4410693300 1 4698693300 0 6647618777 3 5633243031 5 7049959563 2 7859367929 4 9254347365 4 9974347365 2 8579367929 5 7769959563 3 6353243031 0 7367618777 1 3978693300 1 5130693300 0 6215618777 3 5201243031 5 6617959563 2 7427367929 4 8822347365 5 0406347365 2 9011367929 5 8201959563 3 6785243031 0 7789818777 1 3546693300 1 5562693300 0 5783618777 7 1581 190889 6 8178216657 0 3178216657 0 6581190889 6 4776502171 6 1375926248 8 5208123788 8 1788880134 5 7976368074 5 4577707152 7 8391405361 7 4985546449 3 0802132582 2 7406338106 5 1178823277 4 7782596485 2 4010364689 2 0614092976 4 4385907024 4 098963531 1 1 7217403515 1 3820176723 3 7593661894 3 4197867418 0 9985546449 1 3391405361 1 0422292848 0 7023631926 1 6798890134 2 0208123798 0 3624073752 0 0223497829 Firing Order Lower 32 Lasers Header OxDDFF Laser Number 7 4430
4. lockout circuit that prevents its lasers from firing at low RPMs Ethernet This standard Ethernet connector is designed to connect to a standard PC See the next section on usage for UDP packet formats Serial Interface The connector also features an RS 232 DB9 serial connector This connector allows for a firmware update to be applied to the HDL 64E Velodyne may release firmware updates from time to time It also accepts commands to change the RPM of the unit Cable Diagram If you wish to wire your own connector refer to Appendix B for a layout of the wiring pins USAGE Output The HDL 64E outputs UDP Ethernet packets Each packet contains a data payload of 1206 bytes that consists of 12 blocks of 1O00 byte firing data followed by six bytes at the end of each packet that contains a spin counter and firmware version information Each packet can be for either the upper or lower laser banks called laser blocks each bank contains 32 lasers The packet format is as follows 2 bytes of header info This header indicates whether the packet is for the upper block or the lower block The upper block will have a header of OxEEFF and the lower block will have a header of OxDDFF 2 bytes of rotational info This is an integer between and 35999 Divide this number by 100 to get degrees from 32 laser returns broken into 3 bytes each Each return contains two bytes of distance information in 2 centimeter increments and one byte of
5. marked on the product 7 Cleaning The product should be cleaned only as recommended by the manufacturer 8 Nonuse Periods The power connection to the product should be disconnected when left unused for a long period of time 9 Object and Liquid Entry Care should be taken so that objects do not fall and liquids are not spilled onto the enclosure 10 Damage Requiring Service The product should be serviced by qualified service personnel when a The product does not appear to operate normally or exhibits a marked change in performance b The product has been dropped or damaged 11 Servicing The user should not attempt to service the product beyond what is described in the operating instructions All other servicing should be referred to qualified service personnel INVISIBLE LASER RADIATION DO NOT VIEW DIRECTLY WITH OPTICAL INSTRUMENTS CLASS 1M LASER PRODUCT WWW VELODYNE COM HDL 64E User s Manual i TABLE OF CONTENTS A c Ic 1 Principles Operation d d grenge gee ee t e n MV Ua ab A e Installation OVERVIBW amp RE EH RENNES SU NIA deg ee 3 Mounting S aeos bi i rere nod oe beets B pP puce onere mos u eee d ols 3 Beeb eles TET Usage P eere
6. 11494 4 224232979 4 224232979 7 44301 1494 1 033172642 2 169097681 2 197897681 1 004372642 5 36381546 8 590013444 4 195432979 7 414211494 7 486211494 4 267432979 8 662013444 5 43581546 1 076372642 2 125897681 2 241097681 0 961172642 5 32061546 8 546813444 4 152232979 7 371011494 7 529411494 4 310632979 8 705213444 5 47901546 1 119572642 2 082697681 2 284297681 0 917972642 22 73788631 22 22607199 11 51392801 11 00211369 21 71468598 21 20368655 24 79027242 24 27632105 20 69303226 20 18268193 23 76296827 23 2501 7094 16 61531842 16 10583813 19 6725946 19 16272948 15 59649644 15 08695403 18 65304597 18 14350356 14 57727052 14 067405 17 63406187 17 12468058 10 48982906 9 977031727 13 55731807 13 04696774 9 463678954 8 949727577 12 53631345 12 02531402 Rotational Correction Factor in Degrees Vertical Correction Factor in Degrees Horizontal correction factor in cm This refers to the physical horizontal i e left or right offset of each of the laser blocks The same value applies to both upper and lower blocks Horizontal correction factor for odd numbered lasers 4cm Horizontal correction factor for even numbered lasers WWW VELODYNE COM HDL 64E User s Manual 10 Packet construction UDP 100 bytes of data per firing 12 blocks of data per packet plus six status bytes at the end of each packet descr
7. HDL 64E USER S MANUAL High Definition Lidar Sensor e Velodyne CAUTION IMPORTANT SAFETY INSTRUCTIONS A To reduce the risk of electric shock do not remove cover or back No user serviceable parts inside Refer servicing to qualified service personnel RISK OF ELECTRIC SHOCK DO NOT OPEN AS Caution The lightning flash with arrowhead svmbol 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 to the presence of important operating and maintenance servicing instructions in the literature accompanying the product 1 Read Instructions All safety and operating instructions should be read before the product is operated Retain Instructions The safety and operating instructions should be retained for future reference 3 Heed Warnings All warnings on the product and in the operating instructions should be adhered to 4 Follow Instructions All operating and use instructions should be followed 5 Heat The product should be situated away from heat sources such as radiators heat registers stoves or other products that produce heat 6 Power Sources The product should be connected to a power supply only of the type described in the operating instructions or as
8. User s Manual 14
9. ibed below There are three upper blocks returned for each lower block returned Data layout e Two bytes header info two bytes rotational info O 35888 divide by 100 to get degrees e laser returns broken into three bytes each Two bytes distance information in CM increments One byte intensity information 0 255 with 255 being the most intense reflection Six status bytes that alternate between packets The end of the packet will show either A reading showing the internal temperature of the unit You will see a DegC ASUII string as the last four bytes of the packet The two bytes before this string are the thermistor s reading in C in hex 8 8 format This is in big indian format i e the byte immediately preceding the DegC text is the whole degrees and the byte preceding that is the fraction of a degree in 1 256 increments So if you see cO 1a the temperature of the thermistor is 26 75 degrees C the version number of the firmware in ASCII character format Vn n where n n is the version number i e 1 5 WWW VELODYNE COM HDL 84E User s Manual 11 APPENDIX B CONNECTOR WIRING DIAGRAM Sd cr g 5 8 9 N 4 OIN G OIN aas OGAQL ZL f z ON 9 13N431HA LT dau 1
10. ide the HDL 64E If the checksum is corrupted no software update occurs This protects the unit in the event of power or data loss during the firmware update WWW VELODYNE COM HDL 64E User s Manual 7 TROUBLESHOOTING Use this chart to troubleshoot common problems with the HDL 64E Unit doesnt spin Verify power connection and polarity Verify proper voltage should be 12 volts drawing about 3 4 amps Remove bottom cover and check inline fuse Heplace if necessary Unit spins but no data Verify Ethernet wiring Verify packet output from another source e g Etherreal Wireshark No serial communication Verify RS 232 cable connection Unit must be active and spinning for RS 232 update It may take several tries for the update to be effective WWW VELODYNE COM HDL 64E User s Manual 8 SPECIFICATIONS Sensor e 64 lasers e 360 degree horizontal field of view azimuth e O O9 degree angular resolution azimuth e 26 8 degree vertical field of view elevation e 5 cm resolution distance e 5 15 Hz field of view update user selectable 50 meter range for pavement O 10 reflectivity 120 meter range for cars and foliage D 80 reflectivity e gt 1m points per second e lt 0 05 miliseconds latency Laser Class 1M eye safe e 16 lasers assemblies 905 nm wavelenth e 5 nanosecond pulse Adaptive power system for minimizing saturations and blinding e Beam Shape Lower Block 9 100 feet 6 x
11. intensity information D 255 with 255 being the most intense return A zero return indicates no return up to 85 meters 2 bytes spin count binary This field is incremented for each revolution After 65 535 revolutions the counter resets to Note The HDL 64E will ouput three upper block packets for every one lower block packet This provides more resolution when identifying objects at greater distances The minimum return distance for the HDL 64E is approximately three feet Returns closer than this should be ignored WWW VELODYNE COM HDL 64E User s Manual 6 Correction Angles Each HDL 64E laser is fixed with respect to vertical angle and offset to the rotational index data provided in each packet For each data point issued by the HDL 64E rotational and horizontal correction factors must be applied to determine the point s location in 3 D space referred to by the return Appendix A shows correction factors for both the upper and lower laser blocks Controlling the Spin Rate The HDL 64E can spin at rates ranging from 300 RPM 5 Hz to 900 RPM 15 Hz The default is 600 RPM 10 Hz Note that changing the spin rate does not change the data rate the unit will send out the same number of packets at a rate of one million data points per second The image resolution will increase or decrease depending on rotation speed See Appendix C for angular resolution figures for various spin rates To control the HDL s spin rate connect
12. s Manual 3 Side Mounting Mounting Base Figure 3 Side side HDL mounting illustration WWW VELODYNE COM HDL 64E User s Manual 4 Top Mounting Four 406 through holes for top mount option to secure the HDL to the vehicle Figure 4 HDL top mounting illustration Figure 4 shows the location of four 406 thru holes for top mounting For all mounting options be sure the HDL 64E is mounted securelv to withstand vibration and shock without risk of detachment The unit need not be shock proofed it is designed to withstand standard automotive G forces The HDL 64E is weatherproofed to withstand wind rain and other adverse weather conditions The spinning nature of the HDL 64E helps the unit shed excess water from the front window that could hamper performance However it is advisable to avoid exposing the HDL 64E to extreme weather conditions such as driving rain WWW VELODYNE COM HDL 64E User s Manual 5 Wiring The HDL 64E comes with a pre wired connector wired with power DB9 serial and standard HJ 45 Ethernet connectors The connector wires are approximately 25 in length Power Connect the red and black wires to vehicle power Be sure red is positive polarity THE HDL 64E IS RATED ONLY FOR 12 VOLTS Any voltage applied over 16 volts could damage the unit Expect the unit to draw 4 6 amps during normal usage NOTE The HDL 64E does not have a power switch t spins whenever power is applied The HDL 64E has a
13. s are mounted on upper and lower blocks of 32 lasers each and the entire unit spins This design allows for 64 separate lasers to each fire thousands of times per second providing exponentially more data points per second and a much richer point cloud than conventional designs The unit inherently delivers a 360 degree horizontal field of view FOV and a 26 8 degree vertical FOV Additionally state of the art signal processing and waveform analysis are employed to provide high accuracy extended distance sensing and intensity data The HDL 64E is rated to provide usable returns up to 120 meters Laser Emitters 1 Housing aser Entire unit spins eceivers at 5 15 Hz Groups of 32 Motor Housing Figure 1 HDL B4E design overview The HDL 64E employs a direct drive motor system there are no belts or chains in the drive train WWW VELODYNE COM HDL 84E User s Manual INSTALLATION OVERVIEW Front Back Mounting The HDL 64E base provides two mounting options side mount and top mount See Figure 2 for front back mounting options Figure 3 for side side mounting and Figure 4 for top mounting instructions Four M8 1 25 x 12mm deep mounting points Four per side for a total of 16 Mounting Base Figure 2 Front and back HDL mounting illustration See Figure 2 This figure shows the HDL 64E s base plate screw locations with threaded inserts for standard M8 hardware WWW VELODYNE COM HDL 64E User
14. the serial cable to an available RS 232 COM port and issue a serial command of the format HDLRPMnnn where nnn is an integer between and 900 The characters are case sensitive and must be CAPS The HDLG4E will adopt the new spin rate Use the following serial parameters Baud 9600 Parity None Data bits 8 Stop bits 1 The HDL 64E has no echo back feature so no serial data will be returned from the 301 646 FIRMWARE UPDATE Velodvne may issue firmware updates from time to time To apply the update connect the DB9 RS 232 cable to a standard Windows compatible PC s serial port The HDL 64E must be powered up and spinning during the update Execute the file supplied by Velodyne all the software and firmware is included to update the unit Once the file is executed the following screen will appear Velodyne HDL Software Update Close Velodyne HDL Software Update 1 1 COM Port Copyright c 2007 COM3 Velodyne Acoustics Inc Update Status Select port and press Update Press update and the unit will update If the update was successful the unit will begin to spin down for a few seconds then power back up with the new firmware running the first update is not successful it is recommended to try the update again several times before seeking assistance from Velodyne NOTE The entire new firmware is uploaded and checksummed before being applied to the flash memory ins
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