English dropdown-ico

Velodyne LIDAR HDL-32E manual

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28

Go to page of

Similar user manuals

A good user manual

The rules should oblige the seller to give the purchaser an operating instrucion of Velodyne LIDAR HDL-32E, along with an item. The lack of an instruction or false information given to customer shall constitute grounds to apply for a complaint because of nonconformity of goods with the contract. In accordance with the law, a customer can receive an instruction in non-paper form; lately graphic and electronic forms of the manuals, as well as instructional videos have been majorly used. A necessary precondition for this is the unmistakable, legible character of an instruction.

What is an instruction?

The term originates from the Latin word „instructio”, which means organizing. Therefore, in an instruction of Velodyne LIDAR HDL-32E one could find a process description. An instruction's purpose is to teach, to ease the start-up and an item's use or performance of certain activities. An instruction is a compilation of information about an item/a service, it is a clue.

Unfortunately, only a few customers devote their time to read an instruction of Velodyne LIDAR HDL-32E. A good user manual introduces us to a number of additional functionalities of the purchased item, and also helps us to avoid the formation of most of the defects.

What should a perfect user manual contain?

First and foremost, an user manual of Velodyne LIDAR HDL-32E should contain:
- informations concerning technical data of Velodyne LIDAR HDL-32E
- name of the manufacturer and a year of construction of the Velodyne LIDAR HDL-32E item
- rules of operation, control and maintenance of the Velodyne LIDAR HDL-32E item
- safety signs and mark certificates which confirm compatibility with appropriate standards

Why don't we read the manuals?

Usually it results from the lack of time and certainty about functionalities of purchased items. Unfortunately, networking and start-up of Velodyne LIDAR HDL-32E alone are not enough. An instruction contains a number of clues concerning respective functionalities, safety rules, maintenance methods (what means should be used), eventual defects of Velodyne LIDAR HDL-32E, and methods of problem resolution. Eventually, when one still can't find the answer to his problems, he will be directed to the Velodyne service. Lately animated manuals and instructional videos are quite popular among customers. These kinds of user manuals are effective; they assure that a customer will familiarize himself with the whole material, and won't skip complicated, technical information of Velodyne LIDAR HDL-32E.

Why one should read the manuals?

It is mostly in the manuals where we will find the details concerning construction and possibility of the Velodyne LIDAR HDL-32E item, and its use of respective accessory, as well as information concerning all the functions and facilities.

After a successful purchase of an item one should find a moment and get to know with every part of an instruction. Currently the manuals are carefully prearranged and translated, so they could be fully understood by its users. The manuals will serve as an informational aid.

Table of contents for the manual

  • Page 1

    HDL-32E High Definitio n LiD AR ™ Sensor U SER’S MANUAL AND PROGRAMMING GUIDE[...]

  • Page 2

    i 1 2 3 5 7 9 9 9 10 1 1 1 1 12 13 16 22 23 24 S A F E T Y N O T I C E S I N T R O D U C T I O N P R I N C I P L E S O F O P E R A T I O N S E T U P U S A G E External GPS Time Synchronization Packet Format and Status Byte for GPS Time Stamping Time Stamping Accuracy Rates Laser Timing Laser Firing Sequence T R O U B L E S H O O T I N G S E R V I C[...]

  • Page 3

    [ i ]         !               Ca utio n T o red uce the ri sk of ele ct ric s ho ck an d to avo id viol atin g t he warr anty , do not op en sens or body . Ref er se rv ic ing t o qua lifi ed se rvi ce pe rso nnel . Th e l ight ning fl ash with arro whea d sy mb ol is int ende d t o [...]

  • Page 4

    Congratulations on your purchase of a V elodyne HDL- 32E High Definition LiDAR Sensor . This sensor provides state-of-the-art 3D imaging. This manual describes how to set up and operate the HDL-32E, covers installation and wiring, addresses output packet construction and interpretation, along with GPS installation notes. This manual is undergoing c[...]

  • Page 5

    Principles of Operation The HDL-32E creates 360° 3D images by using 32 laser/detector pairs whose housing rapidly spins to scan the surrounding environment. This design allows for the lasers to each fire thousands of times per second, providing a rich, 3D point cloud. Digital signal processing and waveform analysis provide high accuracy , extended[...]

  • Page 6

    This section describes the standard set up assuming you are connecting the sensor to a standard computer or laptop and mounting the sensor on a vehicle. For other connections and mounting locations, please contact Velodyne for technical assistance. T he standard setup involves: 1. Unpacking the shipping case contents. 2. Securely mounting the senso[...]

  • Page 7

    Connect Power and Computer The sensor units are commonly used in vehicle applications where standard 12 volt, 2 amp power is readily available. 1. Connect the interface module to power . 2. Connect the Ethernet connector to a standard PC or laptop RJ45 Ethernet port. Operate B efore operating the sensor , make sure that: • the sensor is in accept[...]

  • Page 8

    The HDL-32E sensor needs no configuration, calibration, or other setup to begin producing usable data. Once the unit is mounted and wired, supplying it power will cause it to start scanning and producing data packets. The quickest way to watch the HDL-32E in action is to use Digital Sensor Recorder (DSR), the viewer software included with the unit.[...]

  • Page 9

    Alternatively , the calibration data can be found in the included db.xml file found on the CD included with the HDL- 32E. The calibration data for vertCorrection is the vertical correction angle for each laser, as viewed from the back of the unit and stated in degrees. Positive values have the laser pointing up and negative values have the laser po[...]

  • Page 10

    External GPS Time Synchronization The HDL- 32E can synchronize its data with precis ion GPS-supplied time pulses to enable users to ascertain the exact firing time of each laser in any particular packet. This capability requires a GPS receiver generating a sync pulse and the $GPRMC NMEA record over a dedicated RS-232 serial port. The output from th[...]

  • Page 11

    [ 8 ] H D L - 3 2 E U s e r ’s M a n u a l      The images below show the GPS receiver included with the HDL-32E. G P S E Q U I P M E N T GPS Interface Box Front & Back View Ethernet Cable Power Adapter AC Cord HDL-32E Garmin GPS-18L V GPS Receiver Interface Box Interface Box T op V iew Interface Box Front View[...]

  • Page 12

    Packet Format and Status Byte for GPS T ime Stamping The 6 extra bytes at the end of the HDL- 32E data packet are used to report GPS timing. For every packet, the last 6 bytes are formatted as follows: 4 bytes: 32 bit unsigned integer time stamp. This value represents microseconds from the top of the hour to the first laser firing in the packet. 2 [...]

  • Page 13

    Laser Firing Sequence The laser firing order is the same as the order in the Ethernet packet. The most downward laser fires first, followed by the interle aved firings from the lower and upper “banks” of 16 lasers, as follows: The interleaving firing pattern is designed is to avoid and potential ghosting caused primarily by retro-reflectors. ?[...]

  • Page 14

    [ 1 1 ] H D L - 3 2 E U s e r ’s M a n u a l                                       Use this chart to troubleshoot common problems with the HDL-32E. Problem Resolution Unit doesn’t spin Verify power connection and polarity . V erify [...]

  • Page 15

    [ 12 ] H D L - 3 2 E U s e r ’s M a n u a l              Laser: Sensor: Mechanical: Output: Dimensions: (Height//Diameter) Shipping Weight: (approx.) • Class 1 - eye safe • 905 nm wavelength • Time of flight distance measurement with intensity • Measurement range 100 m (5 cm to 100 m) • 32 laser[...]

  • Page 16

    Digital Sensor Recorder (DSR) DSR is a windows-based 3 D point cloud visualizati on software program designed for use with the HDL- 32E. This software is a n “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. A code snippet i[...]

  • Page 17

    Once the input of streaming data has been confirmed through the live playback feature, click on the Record button and the program will request the name and location for the pcap file to be created. Recording will begin immediately once the file information has been entered. Click on the Record button again to discontinue the capture. One can string[...]

  • Page 18

    DSR Key Controls Z oom: Z = Zoom in Shift, Z = Zoom o ut 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. Functions: Ctrl, (Z,Y ,P ,R,F ,B,L,H,U,D) Dire[...]

  • Page 19

    Data Packet Format The HDL-32E outputs two UDP Ethernet packets — a data packet containing laser firing data located on Port 2368 and a positioning packet which contains GPS and positioning data located on Port 8308. The packet at Port 2368 contains a header, a data payload of firing data and status data. Data packets are assembled with the colle[...]

  • Page 20

    Figure B1. [ 17 ] H D L - 3 2 E U s e r ’s M a n u a l           Blank Blank Start identifier OxEEFF 2 mm increments (0 = no return within 100 m) User Datagram Protocol (UDP) Ethernet Data Packet Format: HDL-32E (Port 2368)[...]

  • Page 21

    Positioning Packet Using outputs from onboard gryrometers and 2 ‐ axis accelerometers, orientations shown below in Figure B2, the po sitioning ethernet Packet provides motion data (rotational and acceleration) for the stationary base of the HDL ‐ 32E unit. See the User Datagram Protocol (UDP) Positioning Ethernet Packet Format: HDL ‐ 32E, Fig[...]

  • Page 22

    Figure B3. [ 19 ] H D L - 3 2 E U s e r ’s M a n u a l          [...]

  • Page 23

    T ime Stamp : “7c bd 9c 91” 2442968444(919cbd7c hex)usec = 2442.9sec Time stamp from the head of the hour in usec. NMEA Sentence : “$GPRMC, 214042, A, 3708.3087, N, 12139.5146W , 000.0, 000.0, 16031 1, 014.8, E, A*0C” [ 20 ] H D L - 3 2 E U s e r ’s M a n u a l          [...]

  • Page 24

    Ethernet Packet Example Captured via Wireshark. [ 21 ] H D L - 3 2 E U s e r ’s M a n u a l          [...]

  • Page 25

    Coordinate Calculation Algorithm Sample Code After removing all the correction parameters except vertical correction, t he calculation code is: firingData::computeCoords(guint16 laserNum, boost::shared_ptr<CalibrationDB> db, GLpos_t &pos) { guint16 idx = laserNum % VLS_LASER_PER_FIRING; boost::shared_ptr<CalibrationPoint> cal = db-&[...]

  • Page 26

    Calibration and Orientation There are six axes of variation when determining the exact location of any given laser fi ring for the HDL-32. The axes are x, y , z, along with rotational, horizontal, and vertical angles. X, Y , Z. Both x and y offsets are zero and are calculated from the centerline of the device. The Z location of the firing should be[...]

  • Page 27

    [ 24 ] H D L - 3 2 E U s e r ’s M a n u a l                                            All times in microseconds. Combine the value shown from the packet timestamp (microseconds from the top of the hour), to[...]

  • Page 28

    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 Sales E mail: lidar@velodyne.com All Velodyne products are made in the U.S.A. Specifications subject to change without notice Other trademarks or registered trad[...]