Velodyne VLP-32C - User Manual

VLP-32C User Manual
63-9325 Rev. C

Velodyne VLP-32C Specifications

General

Laser Count	32
Range	up to 200m
Accuracy	± 3 cm
Environmental Protection	IP67
Laser Wavelength	905 nm
Power Consumption	10 W
Frame Rate	20 Hz
Operating Voltage	9 V to 18 V
Operating Temperature	-10°C to +60°C
Field of View	360° horizontal, 40° vertical
Angular Resolution	0.1° (horizontal), 0.33° (vertical)

Summary

Chapter 1: About This Manual

1.1 Manual Scope

Defines the manual's purpose: describing VLP-32C sensor installation, verification, operation, and diagnostics.

1.2 Prerequisite Knowledge

Outlines the expected user background in engineering and LiDAR technology for manual comprehension.

1.3 Audience

Identifies the typical users of the manual: engineers, technicians, and data scientists.

1.4 Document Conventions

Explains typographic conventions used in the document for clarity and consistency.

Chapter 2: VLP-32 C Overview

2.1 Overview

Introduces the VLP-32C sensor, its 32 IR lasers, and its 3D point data capabilities.

2.2 Product Models

Provides information on ordering and downloading data sheets for available VLP-32C models.

2.3 Time of Flight

Explains the Time-of-Flight (ToF) methodology used by Velodyne LiDAR sensors.

2.4 Data Interpretation Requirements

Lists requirements for interpreting sensor data, including computer and software needs.

Chapter 3: Safety Precautions

3.1 Warning and Caution Definitions

Defines warning and caution alerts to ensure safe operation and avoid potential hazards.

3.2 Safety Overview

Provides general safety precautions for all LiDAR sensor operation phases.

Chapter 4: Unboxing & Verification

4.1 What’s in the Box?

Details the standard components included in the Velodyne VLP-32C sensor package.

4.2 Verification Procedure

Outlines steps to test and verify the sensor's basic functionality before mounting.

Chapter 5: Installation & Integration

5.1 Overview

Covers common steps for integrating the VLP-32C sensor into an application environment.

5.2 Mounting

Provides details on mounting the sensor securely and its mounting hole specifications.

5.3 Encapsulation, Solar Hats, and Ventilation

Discusses options for sensor encapsulation and managing heat during operation.

5.4 Connections

Details the sensor's physical connections, including interface box and cables.

Chapter 6: Key Features

6.1 Calibrated Reflectivity

Explains how reflectivity is measured and segmented for object differentiation.

6.2 Laser Return Modes

Describes the sensor's supported laser return modes: Strongest, Last, and Dual.

6.3 Phase Locking Multiple Sensors

Details the phase locking feature for minimizing interference between multiple sensors.

Chapter 7: Sensor Inputs

7.1 Power Requirements

Specifies the power requirements for the VLP-32C sensor.

7.2 Interface Box Signals

Lists and describes the signals available on the VLP-32C Interface Box.

7.3 Ethernet Interface

Explains the primary Ethernet interface for command, control, and data transmission.

7.4 GPS, Pulse Per Second (PPS) and NMEA Sentence

Covers synchronization using GPS time, PPS signals, and NMEA sentences.

Chapter 8: Sensor Operation

8.1 Firing Sequence

Details the sequence and timing of laser firings and recharges in the VLP-32C.

8.2 Throughput Calculations

Provides calculations for data packet rates and laser measurements per second.

8.3 Rotation Speed (RPM)

Explains the sensor's motor rotation speed settings and their impact on resolution.

Chapter 9: Sensor Data

9.1 Sensor Origin and Frame of Reference

Defines the sensor's coordinate system and data origin point.

9.2 Calculating X,Y,Z Coordinates from Collected Spherical Data

Details the computation required to convert spherical sensor data to Cartesian coordinates.

9.3 Packet Types and Definitions

Explains the structure and definitions of data and position packets generated by the sensor.

9.4 Discreet Point Timing Calculation

Provides methods for calculating the exact moment of each laser firing for geo-referencing.

9.5 Precision Azimuth Calculation

Describes how to calculate precise azimuth angles by accounting for laser offsets.

9.6 Converting PCAP Files to Point Cloud Formats

Discusses the process of converting sensor data into standard point cloud file formats.

Chapter 10: Sensor Communication

10.1 Web Interface

Explains how to control and configure the sensor using its web-based interface.

10.2 Sensor Control with curl

Details programmatic control and configuration of the sensor using the curl command.

Chapter 11: Troubleshooting

11.1 Troubleshooting Process

Provides a systematic approach to troubleshooting sensor issues.

11.2 Service and Maintenance

Covers basic maintenance, fuse replacement, and sensor cleaning procedures.

11.3 Technical Support

Guides users on how to obtain technical assistance from distributors or the factory.

11.4 Return Merchandise Authorization (RMA)

Details the process for obtaining an RMA for product service or repair.

Appendix A: Sensor Specifications

Appendix B: Firmware Update

B.1 Firmware Update Procedure

Step-by-step instructions for updating the sensor's firmware.

Appendix C: Mechanical Diagrams

C.1 Interface Box Mechanical Drawing

Technical drawing of the VLP-32C Interface Box.

C.2 VLP-32 C Mechanical Drawing

Technical drawing detailing the mechanical aspects of the VLP-32C sensor.

Appendix D: Wiring Diagrams

D.1 Interface Box Wiring Diagram

Diagram illustrating the wiring connections for the VLP-32C Interface Box.

D.2 Interface Box Schematic

Schematic diagram of the VLP-32C Interface Box circuitry.

Appendix E: VeloView

E.1 Features

Overview of VeloView's capabilities for acquiring and visualizing LiDAR data.

E.2 Install VeloView

Instructions for installing the VeloView application on Windows and Macintosh.

E.3 Visualize Streaming Sensor Data

Guide to visualizing live sensor data streams using VeloView.

E.4 Capture Streaming Sensor Data to PCAP File

Steps to record live sensor data into PCAP files using VeloView.

E.5 Replay Captured Sensor Data from PCAP File

Instructions for replaying and examining previously captured sensor data.

Appendix F: Laser Pulse

F.1 The Semiconductor Laser Diode

Explains the function of the semiconductor laser diode used in the sensor.

F.2 Laser Patterns

Describes the visual patterns of laser spots and scan lines from the sensor.

F.2.3 Beam Divergence

Defines beam divergence and its effect on the laser beam's size.

Appendix G: Time Synchronization

G.1 Introduction

Introduces the GPS Qualifier and PPS Qualifier functions for sensor time synchronization.

G.2 Background

Explains the sensor's internal counters and how they relate to time synchronization.

G.3 PPS Qualifier

Details settings that control how the sensor adjusts its time counter based on PPS signals.

G.4 GPS Qualifier

Explains how the sensor adjusts its time counter based on GPS receiver timestamps.

Appendix H: Phase Lock

H.1 Phase Lock

Explains the Phase Lock feature for minimizing interference in multi-sensor setups.

H.1.1 Setting the Phase Lock

Provides instructions on how to set the phase offset for the Phase Lock feature.

H.1.2 Application Scenarios

Illustrates application scenarios for configuring phase lock offsets.

Appendix I: Sensor Care

I.1 Cleaning the Sensor

Provides approved methods for cleaning the VLP-32C sensor, especially the ring lens.

I.1.3 Cleaning Tips

Offers essential tips for cleaning the sensor safely and effectively.

Appendix J: Network Configuration

J.1 Ethernet and Network Setup

Covers basic Ethernet setup and establishing communication with the sensor.

J.2 Network Considerations

Discusses network topology, throughput, and multi-sensor configurations.