Velodyne HDL- 64E User Manual
HDL™-64E
USER’S
MANUAL
High Definition Lidar™Sensor
Caution
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HDL-64E User’s Manual
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Table of Contents
I
ntroduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
Principles of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2
Installation Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3
- Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3
- Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6
Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6
- Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6
- Correction Angles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
- Controlling the Spin Rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
Firmware Update . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
Appendix A — Laser Correction Factors and Data Packet Construction/Interpretation . .10
Appendix B — Connector Wiring Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12
Appendix C — Angular Resolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
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HDL-64E User’s Manual
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Introduction
C
ongratulations 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.
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HDL-64E User’s Manual
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Principles of Operation
T
he 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. 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
(Groups of 16)
Laser
Receivers
(Groups of 32)
Motor
Housing
Figure 1. HDL-64E design overview.
The HDL-64E employs a direct drive motor system — there are no belts or chains in the
drive train.
Housing
(Entire unit spins
at 5-15 Hz)
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HDL-64E User’s Manual
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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
. Front and back HDL mounting illustration.
e 2
Figur
See Figure 2. This figure shows the HDL-64E’s base plate screw locations with threaded inserts
for standard M8 hardware.
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