Velodyne VLS-128 - Sensor Inputs; Sensor Input Interfaces: Power, Ethernet, and GPS

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Chapter 7 • Sensor Inputs

This chapter covers sensor input requirements and functionality, including power, PPS, and Ethernet. It also covers scen-

arios for obtaining GPS input.

7.1 Power Requirements

7.2 Interface Box Signals

7.3 Ethernet Interface

7.4 GPS, Pulse Per Second (PPS) and NMEA GPRMC Message

7.4.1 GPS Input Signals

7.4.2 Electrical Requirements

7.4.3 Timing and Polarity Requirements

7.4.4 GPS Connection Scenarios

7.4.5 NMEA Message Formats

7.4.6 Accepting NMEA Messages Via Ethernet

7.1 Power Requirements

Power requirements are detailed in Chapter 5:

Power on page 29

38 VLS-128 User Manual

DRAFT

Main Page

Default Chapter1
- Figure C-1 Interface Box Mechanical Drawing 50-1483 Rev1
- Table of Contents4
Chapter 1 • about this Manual16
- Manual Scope16
- Prerequisite Knowledge16
- Audience16
- Document Conventions16
- Table 1-1 Document Conventions16
Chapter 2 • VLS-128 Overview18
- Overview18
- Figure 2-1 Example 3D Sensing System18
- Product Models19
- Time of Flight19
- Data Interpretation Requirements19
- Table 2-1 3D Sensing System Components19
Chapter 3 • Safety Precautions20
- Warning and Caution Definitions20
  - Caution Hazard Alerts20
- Safety Overview20
Chapter 4 • Unboxing & Verification22
- What's in the Box22
- Verification Procedure23
Chapter 5 • Installation & Integration28
- Overview28
- Mounting28
- Encapsulation, Solar Hats, and Ventilation29
- Connections29
Chapter 6 • Key Features31
- Calibrated Reflectivity31
- Laser Return Modes31
- Phase Locking Multiple Sensors36
- Figure 6-5 Forestry Application Multiple Returns36
- Figure 6-6 Phase Locking Example37
Chapter 7 • Sensor Inputs38
- Power Requirements38
- Interface Box Signals39
- Table 7-1 Interface Box Signals39
- Figure 7-1 Interface Box (Sensor Power and Data Connections)39
- Ethernet Interface40
- GPS, Pulse Per Second (PPS) and NMEA GPRMC Message40
Chapter 8 • Sensor Operation49
- Firing Sequence49
- Throughput Calculations49
- Rotation Speed (RPM)50
Chapter 9 • Sensor Data52
- Sensor Origin and Frame of Reference52
- Calculating X,Y,Z Coordinates from Collected Spherical Data52
- Packet Types and Definitions53
- Discreet Point Timing Calculation60
- Figure 9-4 Wireshark Position Packet Trace60
- Figure 9-5 Firing Sequence Timing61
- Precision Azimuth Calculation62
- Figure 9-6 Single Return Mode Timing Offsets (in Μs)62
- Figure 9-7 Dual Return Mode Timing Offsets (in Μs)62
- Figure 9-8 VLS-128 Azimuth Offsets by Elevation63
- Figure 9-9 VLS-128 Laser Pattern64
- Converting PCAP Files to Point Cloud Formats65
Chapter 10 • Sensor Communication67
- Web Interface67
- Sensor Control with Curl75
Chapter 11 • Troubleshooting86
- Troubleshooting Process86
  - Table 11-1 Common Problems and Resolutions86
  - Turned DHCP On, Lost Contact with Sensor88
- Service and Maintenance88
  - Fuse Replacement88
- Technical Support89
- Return Merchandise Authorization (RMA)89
Appendix A • Sensor Specifications90
Appendix B • Firmware Update91
- Firmware Update Procedure91
Appendix C • Mechanical Diagrams99
- Interface Box Mechanical Drawing99
- Mechanical Drawing99
- Optical Keep out Zone99
- Figure C-2 VLS-128 Mechanical Drawing 86-0137 REV a101
- Figure C-3 VLS-128 Optical Keep out Zone 86-0137 REV a102
Appendix D • Wiring Diagrams103
- Interface Box Wiring Diagram104
- Figure D-1 Interface Box Wiring Diagram 86-0107A104
- Interface Box Schematic105
- Figure D-2 Interface Box Schematic 69-8230A105
Appendix E • Veloview106
- Features106
- Install Veloview107
- Visualize Streaming Sensor Data107
- Figure E-1 Veloview Open Sensor Stream107
- Capture Streaming Sensor Data to PCAP File108
- Replay Captured Sensor Data from PCAP File108
- Figure E-2 Veloview Record Button108
- Figure E-3 Veloview Open Capture File109
- Figure E-4 Veloview Play Button109
- Figure E-5 Veloview Spreadsheet Tool110
- Figure E-6 Veloview Data Point Table110
- Figure E-7 Veloview Show Only Selected Elements111
- Figure E-8 Veloview Select All Points111
- Figure E-9 Veloview List Selected Points112
Appendix F • Laser Pulse113
- The Semiconductor Laser Diode113
- Figure F-1 Laser Diode Concept113
- Laser Patterns114
- Table F-1 VLS-128 Beam Divergence115
Appendix G • Time Synchronization116
- Introduction116
- Background116
- Figure G-1 Web Interface PPS and GPS Qualifier Option Selections116
- PPS Qualifier117
- GPS Qualifier118
- Application118
- Logic Tables118
- Figure G-3 Sub-Second Counter Behavior118
- Figure G-4 Minutes and Seconds Counter Behavior119
Appendix H • Phase Lock120
- Phase Lock120
- Field of View123
- Status123
- Figure H-5 Sensor Data Shadows123
Appendix I • Sensor Care125
- Cleaning the Sensor125
Appendix J • Network Configuration128
- Ethernet and Network Setup128
  - Defaults128
  - Establishing Communication Via Ethernet128
- Network Considerations129

Velodyne VLS-128 - Sensor Inputs; Sensor Input Interfaces: Power, Ethernet, and GPS

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