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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 lower block laser data. The data packet is then combined with status and header data
in a UDP packet transmitted over Ethernet. The data packet is transmitted starting with the last byte acquired in a last in, first out (LIFO)
data order.

The status data always contains a GPS 4 byte timestamp representing microseconds from the top of the hour. In addition, the status
data contains one type of data. The other status data rotates through a sequence of different pieces of information. See datagram on
the next page.

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HDL-64E S2 and S2.1 User’s Manual

aPPendix e: data PacKet forMat

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Содержание HD HDL-64E S2.1

Страница 1: ...HDL 64E S2 and S2 1 High Definition LiDAR Sensor 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 ...

Страница 2: ...iver Option 2 Customer Supplied GPS Receiver Packet Format and Status Byte for GPS Time Stamping Time Stamping Accuracy Rules Laser Firing Sequence and Timing F I R M W A R E U P D AT E A P P E N D I X A Mechanical Drawings A P P E N D I X B Wiring Diagram A P P E N D I X C Digital Sensor Recorder DSR Install Calibrate Live Playback Record Data Playback of Recorded Files DSR Key Controls DSR Mouse...

Страница 3: ...er 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 2 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 instruc...

Страница 4: ...s of the HDL 64E sensor the S2 and S2 1 unless otherwise indicated The table below compares the laser layout vertical field of view VFOV and primary application of the two versions HDL 64E Version Lower Laser Block Upper Laser Block Vertical Field of View VFOV Primary Application S2 32 lasers separated by 32 lasers separated by 2 to 24 8 Autonomous navigation vertical spacing 1 3 vertical spacing ...

Страница 5: ... 26 8 vertical FOV 31 5 VFOV for the S2 1 Additionally state of the art digital signal processing and waveform analysis are employed to provide high accuracy extended distance sensing and intensity data The sensor is rated to provide usable returns up to 120 meters The sensor employs a direct drive motor system with no belts or chains in the drive train See the specifications at the end of this ma...

Страница 6: ...mensions 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 fro...

Страница 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 instaLLation oVerVieW ...

Страница 8: ... HDL mounting illustration 5 HDL 64E S2 and S2 1 User s Manual instaLLation oVerVieW 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 ...

Страница 9: ...ing diagram in Appendix B The sensor needs no configuration calibration or other setup to begin producing usable data Once the unit is mounted and wired supplying it power causes it to start scanning and producing data packets Use the Included Point cloud Viewer The quickest way to view the data collected as an image is to use the included Digital Sensor Recorder DSR DSR is Velodyne s point cloud ...

Страница 10: ...ical correction angle for each laser Positive values have the laser as viewed from the back of the unit pointing up Negative values have the laser pointing down distCorrection cm Far distance correction of each laser distance Add directly to the distance value due to minor laser parts variances read in the packet distCorrectionX cm Close distance correction in X of each laser due to minor laser pa...

Страница 11: ... called HDL Source Example shows the calculations using the above correction factors This DSR uses this code to determine 3D locations of sensor data points 5 Plot or store the data as needed For DSR the point cloud data once determined is plotted onscreen The source to do this can be found on the CD and is entitled HDL Plotting Example DSR uses OpenGL to do its plotting You may also want to store...

Страница 12: ...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 digit IP address IP address dddddddddddd is the destination 12 digit IP address HDLFOVsssnnn Change horizontal Field of View HFOV sss starting angle in degrees sss is an integer between 000 and 360 nnn ending angle in degrees nnn is an int...

Страница 13: ...trol the sensor s spin rate in RAM only issue a serial command of the case sensitive format HDLRPNnnnn where nnnn is an integer between 0300 and 1200 The sensor immediately adopts the new spin rate You shouldn t power cycle the sensor as the new RPM is lost with future power cycles which returns to the last known RPM Limit Horizontal FOV Data Collected The sensor defaults to a 360 surrounding view...

Страница 14: ...g time of each laser in any particular packet The firing time of the first laser in a particular packet is reported in the form of microseconds since the top of the hour and from that time each subsequent laser s firing time can be derived via the table published in Appendix H and included on the CD Calculating the exact firing time requires a GPS receiver generating a sync pulse and the GPRMC NME...

Страница 15: ...S Adaptor Box Model No HDL 64 ADAPT Included 1 2 3 4 5 6 7 8 COLOR SIGNAL NAME 1 Red 12V DC Power 2 Black Power Ground 3 Yellow 1 PPS positive edge only 4 Red Vin 5V 5 Black Ground 6 White Transmit Data 7 Brown Ground Drain Wire 8 Green Receive Data DB 9 M Connect to Interface Cable from HDL 64E Unit DB 9 F Connect to Host Computer Serial Port GPS Receiver Model No HDL 64 GPS Optional ...

Страница 16: ... a drift of about 5 The sensor clock does not correct GPS Status 0 its own clock starting at midnight seconds day for leap years See Appendix E for Jan 1 2000 This date and time data more information is reflected in the H M S D N and Y data values GPS is connected The H M S D N and Y data values GPS time synching runs in are obtained from the GPRMC one of two modes NMEA record The GPS has an inter...

Страница 17: ...etween the actual capturing of a distance point and when that point is output from the device 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 captured From time to time Velodyne issues firmware updates To update the sensor s firmware 1 Obtain the update file from Velodyne 2 Connect the wiring harness RS ...

Страница 18: ...8 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 aPPendix a MechanicaL draWinGs ...

Страница 19: ... 16 HDL 64E S2 and S2 1 User s Manual aPPendix B WirinG diaGraM Harting Technology Group Metal Version Standard Straight Style Model No 10 12 005 2001 ...

Страница 20: ...gathered for each laser When implemented properly the image viewable from the DSR is calibrated to provide an accurate visual representation of the environment in which the sensor is being used Also use these calibration factors and equations in any program using the data generated by the unit Live Playback For live playback 1 Secure and power up the sensor so that it is spinning 2 Connect the RJ4...

Страница 21: ...ap file for playback The DSR playback controls are similar to any DVD VCR control features 2 Press the Play button to render the file The Play button toggles to a Pause button when in playback mode PLAY button PAUSE button Use the Forward and Reverse buttons to change the direction of playback FORWARD button REVERSE button The X Y Z and distance figures at the bottom of the image represent the dis...

Страница 22: ...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 Direction Fine Movement Alt Z Y P R F B L H U D Direction Very Fine Movement DSR Mouse Controls Rotational Left Button Move Slide Right Button Move Zoom Scroll forward Zoom In Scroll backward Zoom Out 19 HDL 64E S2 and S2 1 User s Manual aPPendix c diGitaL sensor recorder dsr ...

Страница 23: ...op status i 1 ttc 1205 i 1206 value i 1 ttc 1206 i 1206 end a 85 78 73 84 35 fclose fid toc Ind strfind value a Loop through 64 lasers for i 1 64 temp single value Ind 1 64 i 1 16 Ind 1 64 i 1 16 7 temp1 single value Ind 1 64 i 1 32 Ind 1 64 i 1 32 7 temp2 single value Ind 1 64 i 1 48 Ind 1 64 i 1 48 7 temp3 single value Ind 1 64 i 1 64 Ind 1 64 i 1 64 7 LaserId i temp 1 Add high and low bytes of ...

Страница 24: ...mp 6 10 DistanceCorrX i temp1 2 256 temp1 1 10 DistanceCorrY i temp1 4 256 temp1 3 10 VerticalOffset i temp1 6 256 temp1 5 10 HorizonOffset i temp2 1 256 temp1 7 if HorizonOffset i 32768 HorizonOffset i HorizonOffset i 65536 end HorizonOffset i HorizonOffset i 10 FocalDist i temp2 3 256 temp2 2 if FocalDist i 32768 FocalDist i FocalDist i 65536 end FocalDist i FocalDist i 10 FocalSlope i temp2 5 2...

Страница 25: ...ation data are 2 byte signed integers except minimum and maximum intensity which use 1 byte each See Appendix E for more information Status Type ASCII Value Interpretation and Scaling Vertical correction Divide by 100 for mm Rotational angle correction Divide by 100 for mm Distance far correction mm Distance correction X mm Distance correction Y mm Vertical offset correction mm Horizontal offset c...

Страница 26: ...aser data The data packet is then combined with status and header data in a UDP packet transmitted over Ethernet The data packet is transmitted starting with the last byte acquired in a last in first out LIFO data order The status data always contains a GPS 4 byte timestamp representing microseconds from the top of the hour In addition the status data contains one type of data The other status dat...

Страница 27: ... 24 HDL 64E S2 and S2 1 User s Manual aPPendix e data PacKet forMat Firmware version 4 07 sheet 1 of 3 Version 4 07 47 ...

Страница 28: ...on 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 Block Threshold Reserved Year Month Day Hour Min Sec Reserved Reserved Reserved Reserved Reserved ...

Страница 29: ... 26 HDL 64E S2 and S2 1 User s Manual aPPendix e data PacKet forMat Firmware version 4 07 sheet 3 of 3 Threshold A8 Both 2 Strongest 0 Last 1 ...

Страница 30: ...cKet forMat 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 packet expressed in seconds since the top of the hour PACKET 7648 PACKET 7649 PACKET 7650 PACKET 7651 ...

Страница 31: ...PACKET 7652 PACKET 7653 PACKET 7654 PACKET 7655 PACKET 7656 28 HDL 64E S2 and S2 1 User s Manual aPPendix e data PacKet forMat 40 Ver 4 07 47 ...

Страница 32: ...PACKET 7657 PACKET 7658 29 HDL 64E S2 and S2 1 User s Manual aPPendix e data PacKet forMat Not used Spare Not used Spare ...

Страница 33: ... the calibration value is as follows Where x1 2 4 m x2 25 04 m D1x corrected X distance for near point D1y corrected Y distance for near point D2x corrected X distance for far point D2y corrected X distance for far point Coordinate Calculation Algorithm Sample Code firingData computeCoords guint16 laserNum boost shared_ptr CalibrationDB db GLpos_t pos guint16 idx laserNum VLS_LASER_PER_FIRING boos...

Страница 34: ...n use different value at different distance float distanceCorrX cal getDistCorrection cal getDistCorrectionX xx 240 2504 240 cal getDistCorrectionX float distanceCorrY cal getDistCorrection cal getDistCorrectionY yy 193 2504 193 cal getDistCorrectionY fix in V2 0 Unit convert cm converts to meter distance1 VLS_DIM_SCALE distanceCorrX VLS_DIM_SCALE distanceCorrY VLS_DIM_SCALE Measured distance add ...

Страница 35: ...trols intensity compensation Min and Max Intensity are used to scale and offset intensity Intensity Value Corrected by Distance Code for guint i 0 i VLS_LASER_PER_FIRING i guit laser i base if db getEnabled laser continue bool intensity db getIntensity laser if intensity glColor3fv db getDisplayColor laser rgb else guchar minIntensity 0 maxIntensity 0 float intensityScale 0 minIntensity db getMinI...

Страница 36: ...nIntensity if intensityVal1 maxIntensity intensityVal1 maxIntensity Scale to new intensity scale float intensityColor float intensityVal1 minIntensity intensityScale Convert to jet color int rgb int intensityColor 63 glColor3f rcolor rgb gcolor rgb bcolor rgb G1Vertex3fv it getCoord i xyz it operator 33 HDL 64E S2 and S2 1 User s Manual aPPendix f duaL tWo Point caLiBration MethodoLoGy ...

Страница 37: ...n sequence and in unison to a corresponding laser from the lower block 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 This is why when interpreting the delay table each sequential pair of data blocks represents the upper and lower block respectively and each upper and lower block pair of d...

Страница 38: ... 92 315 20 11 Upper 302 82 302 09 301 36 300 64 299 91 299 18 298 45 297 72 11 Upper 297 00 296 27 295 54 294 81 294 08 293 36 292 63 291 90 12 Lower 302 82 302 09 301 36 300 64 299 91 299 18 298 45 297 72 12 Lower 297 00 296 27 295 54 294 81 294 08 293 36 292 63 291 90 Data Laser Laser Numbers 16 23 48 55 Lower Upper Data Laser Laser Numbers 24 31 56 63 Lower Upper Block Block 16 48 17 49 18 50 1...

Страница 39: ... 36 HDL 64E S2 and S2 1 User s Manual aPPendix h Laser and detector arranGeMent SENSOR BEAM ON THE WALL AS SEEN ON CAMERA IN NIGHT VISION MODE SENSOR AS SEEN FROM THE BACK OF THE UNIT ...

Страница 40: ...z 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 HDL 64E S2 and S2 1 User s Manual aPPendix i anGuLar resoLution ...

Страница 41: ...10 amp fuse Replace if necessary Model No ATM 10 Unit spins but no data Verify Ethernet wiring Verify packet output with another tool e g Ethereal 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 No service or maintenance requirements or procedures exist for the sensors Howev...

Страница 42: ...cond Operating temperature 10 to 50 C Storage temperature 10 to 80 C Vibration MIL STD 810G Method 514 6 Annex E Category 24 General Minimum Integrity Exposure 7 7Grms 20 200Hz 0 040 g2 Hz 20 1000Hz 6dB octave decline to 0 010 g2 Hz 1000 2000Hz Class 1 eye safe 4 x 16 laser block assemblies 905 nm wavelength 5 nanosecond pulse Adaptive power system for minimizing saturation laser life and enhanced...

Страница 43: ...m Service Email lidarservice velodyne com Product Email help velodyne com Technical Email lidarhelp velodyne com Sales Email lidar velodyne com All Velodyne products are made in the U S A Specifications subject to change without notice Other trademarks or registered trademarks are property of their respective owner 63HDL64E S2 Rev D MAY11 ...

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