Velodyne HDL- 64E User Manual
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Velodyne HDL- 64E User Manual

Velodyne HDL- 64E User Manual

High definition lidar sensor
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HDL
- 64E
™
U S E R ' S
M A N U A L
H i g h D e f i n i t i o n L i d a r
S e n s o r
™

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Summary of Contents for Velodyne HDL- 64E

  • Page 1 - 64E ™ U S E R ’ S M A N U A L H i g h D e f i n i t i o n L i d a r S e n s o r ™...
  • Page 2 C a u t i o n w w w . v e l o d y n e . c o m HDL-64E User’s Manual...

  • Page 3: Table Of Contents

    Ta b l e o f C o n t e n t s Introduction ............1 Principles of Operation .

  • Page 4: Introduction

    I n t r o d u c t i o n 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.

  • Page 5: Principles Of Operation

    P r i n c i p l e s o f O p e r a t i o n The HDL-64E operates on a rather simple premise: instead of a single laser firing through a rotating mirror, 64 lasers are mounted on upper and lower blocks of 32 lasers each and the entire unit spins.

  • Page 6: Installation Overview

    I n s ta l l a t i o n O v e r v i e w F r o n t / B a c k M o u n t i n g 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.
  • Page 7 S i d e M o u n t i n g Mounting Base Figure 3. Side/side HDL mounting illustration. w w w . v e l o d y n e . c o m HDL-64E User’s Manual...
  • Page 8 To p M o u n t i n g 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 securely to withstand vibration and shock without risk of detachment.

  • Page 9: Wiring

    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.

  • Page 10: Correction Angles

    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: Press update and the unit will update.

  • Page 11: Troubleshooting

    T r o u b l e s h o o t i n g Use this chart to troubleshoot common problems with the HDL-64E. P r o b l e m R e s o l u t i o n Unit doesn’t spin Verify power connection and polarity.

  • Page 12: Specifications

    S p e c i f i c a t i o n s • 64 lasers Sensor: • 360 degree horizontal field of view (azimuth) • 0.09 degree angular resolution (azimuth) • 26.8 degree vertical field of view (elevation) •...

  • Page 13: Appendix A - Laser Correction Factors And Data Packet Construction/Interpretation

    A p p e n d i x A - L a s e r C o r r e c t i o n Fa c t o r s a n d D a ta Pa c k e t C o n s t r u c t i o n / I n t e r p r e ta t i o n Firing Order - Upper 32 Lasers Firing Order - Lower 32 Lasers - Header 0xEEFF...
  • Page 14 P a c k e t c o n s t r u c t i o n : UDP , 100 bytes of data per firing, 12 blocks of data per packet, plus six status bytes at the end of each packet described below.

  • Page 15: Appendix B - Connector Wiring Diagram

    A p p e n d i x B - C o n n e c t o r W i r i n g D i a g r a m w w w . v e l o d y n e . c o m HDL-64E User’s Manual...

  • Page 16: Appendix C - Angular Resolution

    A p p e n d i x C - A n g u l a r R e s o l u t i o n Lower Block Points Per Points Per Revolution Angular Resolution Revolution Per Laser (degrees) 50000 1562.5 0.2304...
  • Page 17 Velodyne Acoustics, Inc. 345 Digital Drive Morgan Hill, CA 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: help@velodyne.com Technical E-mail: techhelp@velodyne.com Sales E-mail: lidar@velodyne.com 63-HDL-64E Rev B JUN07 w w w . v e l o d y n e . c o m...

This manual is also suitable for:

Hdl-64e

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