Velodyne HD HDL-64E S2 Instrucciones de funcionamiento

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USER'S

MANUAL

AND

PROGRAMMING

GUIDE

Firmware Version 4.07

e

HDL-64E

S2

and

S2.1

High

Definition

LiDAR™

Sensor

Velodyne

VEL00002583

Ex. 2050-0001

Velodyne LiDAR, Inc.

Exhibit 2050

Quanergy Systems, Inc. v. Velodyne LiDAR, Inc.

Case IPR2018-00256

SAFETY

NOTICES

INTRODUCTION

In

The

Box

2

PRINCIPLES

OF

OPERATION

3

INSTALLATION

OVERVIEW

3

FrontlBack

Mounting

4

Side

Mounting

5

Top

Mounting

6

Wiring

6

USAGE

6

Use

the

Included

Point-cloud

Viewer

6

Develop

Your

Own

Application-specific

Point-cloud

Viewer

7

db.xml

Calibration

Parameters

8

Change

Run-Time

Parameters

10

Control

Spin

Rate

-

Change

Spin

Rate

in

Flash

Memory

-

Change

Spin

Rate

in

RAM

Only

10

Limit

Horizontal

FOV

data

Collected

11

Define

Sensor

Memory

IP

Source

and

Destination

Addresses

11

Upload

Calibration

Data

11

External

GPS

Time

Synchronization

-

GPS

Receiver

Option

1:

Velodyne

Supplied

GPS

Receiver

-

GPS

Receiver

Option

2:

Customer

Supplied

GPS

Receiver

13

Packet

Format

and

Status

Byte

for

GPS

Time

Stamping

13

Time

Stamping

Accuracy

Rules

13

Laser

Firing

Sequence

and

Timing

14

FIRMWARE

UPDATE

15

APPENDI

X A:

Mechani

ca

l

Drawing

s

16

APPENDIX

B:

Wiring

Diagram

17

APPENDI

X C:

Dig

i

tal

Sensor

Recorder

(DSR)

17

Install

17

Calibrate

17

Live

Playback

18

Record

Data

18

Playback

of

Recorded

Files

19

DSR

Key

Controls

19

DSR

Mouse

Controls

20 APPENDIX D:

Matlab

Sample

Code

22

Reading

Calibration

and

Sensor

Parameter

Data

23

APPENDI

X E:

Data

Packet

Format

27

Last

Six

Bytes

Examples

30 APPENDIX F:

Dual

T

wo

Point

Calibration

Methodology

34

APP

ENDI X G:

Ethernet

Transmit

Timing

Table

36

APPENDIX H:

Laser

and

Detector

Arrangement

37

APPENDIX I:

Angul

ar

Resolution

38

TROUBLESHOOTING

38

SERVICE

AND

MAINTENANCE

39

SPECIFICATIONS

VEL00002584

Ex. 2050-0002

CAUTION -SAFETY

NOTICE

Caution

To

reduce

the

risk

of

electric

shock

and

to

avoid

violating

the

warranty

,

do

not

open

sensor

body.

Refer

servicing

to

qualified

service

personnel.

The

lightning

flash

with

arrowhead

symbol

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

ex

clamation

point

symbol

is

intended

to

alert

the

user

to

the

presence

of

important

opera

ting

and

maintenance

(servicing)

instruction

s

in

the

l~erature

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

produc

t

and

in

the

operating

instructions

should

be

adhered

to

.

4.

Follow

Instructions

-All

operating

and

use

instructions

should

be

followed

.

5.

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

Velodyne

.

[i

l

V

EL

00002585

Ex. 2050-0003

INTRODUCTION

HDL-64E

S2

and

S2.1

User

's

Manua

l

Congratulations

on

your

purchase

ofa

Velodyne

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

S2.1

High

Definition

LiDAR

sensors

are

referred

to

as

the

sensor

throughout

this

manual.

This

manual

and

programming

guide

covers:

•

Installation

and

wiring

•

HDL-64-ADAPT

(GPS

Adaptor

Box)

•

The

data

packet

format

•

The

serial

interface

•

Software

updates

•

GPS

installation

notes

•

Viewing

the

data

•

Programming

information

This

manual

applies

to

the

two

versions

of

the

HDL

-64E

sensor,

t

he

S2

and

S2

.1,

unless

otherwse

indicated

. T

he

table

below

compares

t

he

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

navig

ation

%0

vertical

spacing

1/3°

vertical

spacing

S2

.1

32

lasers

separated

by

32

lasers

separated

by

31

.

s·

30

mapping

(dual

lower

block)

%0

vertical

spacing

%0

vertical

spacing

For

the

latest

update

s

to

this

manual

-

check

www.velodynelidar

.

com

.

In

the

Box

Each

shipment

contains:

•

Sensor

•

HDL-64-ADAPT

(GPS

Adapto

r

Box)

•

Wiring

harne

ss

•CD

with

user

manual

,

ca

libr

a

tion

file

(db.xml)

,

timing

ta

ble

calculation

file

(

.x

i

s)

and

DSR

viewer

[

1]

VEL00002586

Ex. 2050-0004

PRINCIPLES

OF

OPERATION

HDL-64E

S2

and

S2.l

User's

Manua

l

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.

Both

laser

blocks

rotate

as

a

single

unit.

With

this

design

each

of

the

lasers

fires

tens

of

thousands

of

times

per

second

,

providing

ex

ponentially

more

data

points/second

and

a

more

data-intensive

point

cloud

than

a

rotating

mirror

design

.

The

sensor

delivers

a

360°

horizontal

Field

of

View

(HFOV)

and

a

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.

T

he

sensor

employs

a

direct

drive

motor

system

with

no

belts

or

chains

in

the

drive

train.

See

the

specifications

at

the

end

of

this

manual

for

more

information

about

sensor

operating

conditions

.

Laser

Emitters

Laser

Receivers

(Groups

of

32)

Motor

Figure

1.

HDL-64E

S2

design

overview

[2]

Housing

(Entire

un

it s

pins

at

5-20

Hz

)

VEL00002587

Ex. 2050-0005

INSTALLATION OVERVIEW

HDL-64E

S2

and

S2.l

User's

Manua

l

The

sensor

base

provides

the

following

mounting

options:

•

FronUBack

mount

(Figure

2)

•

Side

mount

(Figure

3)

•

Top

mount

(Figure

4)

The

sensor

can

be

mounted

at

any

angle

from

O

to

90°

with

respect

to

its

base

.

Refer

to

Appendix

A

for

complete

dimensions.

For

all

mounting

options,

mount

the

sensor

to

withstand

vibration

and

shock

w~hout

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

front

window

that

could

hamper

performance.

Front/Back

Mounting

F

igure

2.

Fro

nt

an

d

ba

ck

HOL

mount

ing

illu

stra

ti

on.

[3]

Mounting

Base

Two

M8-1

.

25mm

x

12mm

deep

mounting

points

.

(Two

per

side

,

for

a

total

of

8.)

VEL00002588

Ex. 2050-0006

INSTALLATION OVERVIEW

Side

Mounting

F

igure

3.

Side

HDL

mounting

illu

s

tration

.

[4]

HDL-64E

S2

and

S2.l

User's

Manua

l

Mounting

Base

/

VEL00002589

Ex. 2050-0007

INSTALLATION OVERVIEW

Top

Mounting

Fi

gure

4.

Top

HDL

mounting

illu

s

tration

.

[5]

HDL-64E

S2

and

S2.l

User's

Manua

l

Four

0.41

"

[10

.

3mm]

through

holes

for

top

mount

option

to

secure

the

H

DL

to

the

vehicle

.

VEL00002590

Ex. 2050-0008

INSTALLATION OVERVIEW

HDL-64E

S2

and

S2.l

User's

Manua

l

Wiring

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

posttive

polarity

.

THE

SENSOR

IS

RATED

ONLY

FOR

12

-16

VOL

TS

.

Any

voltage

applied

over

16

volts

could

damage

the

sensor.

The

sensor

draws

4-6

AMPS

during

normal

usage.

~

The

sensor

doesn't

have

a

power

switch.

It

spins

whenever

power

is

applied

.

Lockout Circuit.

The

sensor

has

a

loc

k

out

circuit

that

prevents

its

lasers

from

firing

until

it

achieves

appro

x

imately

300

RPMs

.

Ethernet.

This

standard

Ethernet

connector

is

designed

to

connect

to

a

standard

PC.

~

The

sensor

is

only

compatible

with

network

cards

that

have

either

MDI

or

AUTO

MDI

X ca

pability

.

Serial

Interface

RS-232

DB9.

Thi

ss

tandard

conne

c

tor

allows

fo

r a

firmware

update

to

be

applied

to

the

s

ensor

.

Velo

d

yne

may

relea

se

firmware

updates

from

time

to

time.

It

also

accepts

commands

to

change

the

RPM

of

the

unit

,

control

HFOV

,

change

t

he

unit's

IP

address

,

and

other

functions

described

later

in

this

manual.

Wiring

Diagram.

If

you

need

to

wire

your

own

connector

for

your

installation,

refer

to

the

wi

ring

diagram

in

Appendi

x B.

USAGE

The

sensor

needs

no

configuration

,

cal

i

bration,

or

other

setup

to

begin

producing

usable

data

.

Once

the

unit

is

mounted

and

wired

,

supplying

it

power

cau

ses

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

processing

data

viewer

software

.

DSR

reads

in

the

packets

from

the

sensor

over

Ethernet

,

performs

the

necessary

ca

l

culations

to

determine

point

locations

and

then

plots

the

points

in

30

on

your

PC

monitor

.

You

can

observe

both

distan

ce

and

intensity

data

through

DSR.

If

you

have

never

used

the

s

en

s

or

before

,

this

is

the

recommended

starting

point.

For

more

on

installing

and

using

DSR

,

see

Appendi

x C.

De

v

elop

Your

Own

Application-specific

Point

-

cloud

Viewer

Many

us

er

s

elect

to

develop

their

own

application-

s

pe

c

ifi

c

point

cloud

tra

c

king

and

pl

o

tting

and/or

storage

sc

heme

,whi

ch

require

s

the

se

fundamental

s

tep

s:

1.

Establi

sh

communication

with

the

sensor

.

2.

Create

a

calibration

table

etth

er

from

the

calibration

data

inc

luded

in-

s

tream

from

the

se

nsor

or

from

the

i

ncl

uded

db

.x

ml

data

file

.

3.

Pa

r

se

the

packets

for

rotation

, bl

ock

,

di

s

tance

and

intensity

data

4.Ap

ply

th

ec

alibr

a

tion

fa

ct

o

rs

to

the

da

ta.

5.

Plot

or

store

the

data

as

needed.

[6]

VEL00002591

Ex. 2050-0009

USAGE

HDL-6

4 E

S2

and

S2.

1

User

's

Manua

l

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.

See

Appendix

E

for

the

UDP

packet

format.

The

default

sou

r

ce

IP

address

for

the

sensor

is

192.168.3.043

,

and

the

destination

IP

address

is

192.168.3.255.

To

change

these

IP

addresses

,

see

page

11.

2.

Create

an

internal

calibration

table

either

from

the

calibration

data

included

in-stream

from

the

sensor

or

from

the

included

db.xml

data

file

.

This

table

must

be

built

and

stored

internal

to

the

po

i

nt-cloud

processing

software.

The

easiest

and

most

reliable

way

to

build

the

calibration

table

is

by

reading

the

calibration

data

directly

from

the

UDP

data

packets

.A Matlab

example

of

reading

and

building

such

a

table

can

be

found

in

Appendix

D

and

on

the

CD

included

with

the

sensor

named

CALTABLEBUILD.m.

Alternatively

,

the

calibration

data

can

be

found

in

the

included

db.xml

file

found

on

the

CD

included

with

the

sensor.

A

description

of

the

calibration

data

is

shown

in

the

following

table

.

db.xml

Calibration

Parameters

Parameter

Unit

Description

Values

rotCorrection

degree

The

rotational

correction

angle

for

each

laser

,

Posnive

fac

t

ors

rotate

to

the

left

.

as

viewed

from

the

back

of

the

unit.

Negative

values

rotate

to

the

right.

vertCorrection

degree

The

verti

ca

l

corr

ection

angle

for

each

laser

,

Posnive

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

las

er

parts'

variances

.

read

in

the

packet.

distCorrectionX

cm

C

lo

se

distance

correction

in

X

of

each

laser

due

to

minor

la

s

er

parts

variances

interpolated

with

far

distance

correction

then

applied

to

measurement

in

X.

distCorrectionY

cm

Close

distance

correction

in

Y

of

each

laser

due

to

minor

laser

parts

variances

interpolated

with

far

distance

corr

ection

then

applied

to

measu

r

ement

in

Y

vertOffsetcorrection

cm

The

height

of

each

laser

as

measured

from

One

fi

xe

d

va

l

ue

for

a

ll

upper

the

bottom

of

the

base.

block

l

ase

r

s.

Another

fi

x

ed

value

for

all

lower

block

l

asers

.

horizOffsetCorrection

cm

The

horizontal

offset

of

each

l

aser

Fi

x

ed

positive

or

negative

value

as

viewed

from

the

back

of

the

la

se

r.

for

all

lase

rs.

Ma

x

imum

Inten

s

ity

Va

lue

from

O

to

255

. Us

ually

255.

Minimum

lntensny

Value

from

O

to

255.

Usually

0.

Focal

Di

s

tance

Ma

x

imum

inten

sity

di

sta

nce

.

Focal

S

lope

The

control

intensity

amount.

The

ca

librati

on

table

,

once

assembled

,

co

ntain

s

64

in

sta

n

ces

of

the

ca

libration

va

lu

es

s

hown

in

the

table

abo

ve

to

i

nte

r

pret

the

p

ac

ket

d

ata

to

ca

lcul

ate

eac

h

point

's

po

s

ition

in

30

space

.

Us

e

th

e

fir

st

32

point

s

for

th

e

upp

er

block

a

nd

th

e

sec

ond

32

points

for

th

e

low

er

blo

ck

. The

rotational

info

found

in

the

packet

header

isus

ed

to

determine

the

packets

position

with

respe

ct

to

th

e

360°

hor

iz

ont

al

field

of

view.

[7]

V

EL

00002592

Ex. 2050-0010