Velodyne AcousticsメーカーHDL-64E S2.1の使用説明書/サービス説明書
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HDL-64E S2 and S2.1 High Definitio n LiD AR ™ Sensor USER’S MANUAL AND PROGRAMMING GUIDE Firmware Version 4.07.
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.
[ i ] Ca utio n T o reduce the risk of electric shock and to avoid violating the warranty , do not open sensor body .
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.
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.
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 opti.
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 .
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.
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 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 .
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.
[ 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 f.
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.
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.
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.
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.
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.
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.
[ 16 ] HDL-64E S2 and S2.1 User’s Manual Harting T echnology Group Metal Version, Standard Straight Style Model No.
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.
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.
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.
Matlab sample code to read calibration data from HDL-64E output. fileFilter = '*.pcap'; [File_name,Directory]=uigetfile(fileFilter,'Open a .
% 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.
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.
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.
[ 24 ] HDL-64E S2 and S2.1 User’s Manual Firmware version 4.
[ 25 ] HDL-64E S2 and S2.1 User’s Manual Firmware version 4.
[ 26 ] HDL-64E S2 and S2.1 User’s Manual Firmware version 4.
[ 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 .
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.
P ACKET #7657: P ACKET #7658: [ 29 ] HDL-64E S2 and S2.1 User’s Manual Not used (Spare) Not used (Sp.
[ 30 ] HDL-64E S2 and S2.1 User’s Manual D .
float cosRotCorrection = cal->getCosRotCorrection(); float sinRotCorrection = cal->getSinRotCorrection(); float cosRotAngle = rotCosTable[data->position]*cosRotCorrection + rotSinTable[data-&.
[ 32 ] HDL-64E S2 and S2.1 User’s Manual In.
// Calculate corrected intensity vs distance float intensityVal1 = intensityVal + focalslope*(abs(focaloffset-256*(1- distance/65535)*(1-distance/65535))); if (intensityVal1 < minIntensity) intensi.
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 .
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.
[ 36 ] HDL-64E S2 and S2.1 User’s Manual SENSOR BEAM ON THE WALL AS SE.
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.
[ 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.
[ 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.
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.
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