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VLS-128
Velodyne VLS-128 User Manual
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T
he
r
e
cei
ver
p
l
ugs
directl
y
into
the
Int
er
face
Box’
s
GPS
por
t
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nd
is
used
to
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nc
hr
oniz
e
your
sens
or
's
times
tamp
w
i
th
pr
e-
c
i
s
i
on
GPS
time.
T
he
si
gnals
fr
o
m
the
Gar
min
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e
c
ei
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i
l
l
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ar
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show
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i
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F
igure
7
-
7
below
w
he
r
e
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gnal
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s
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ma
l
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y
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i
gh
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tag
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F
i
g
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e
7-
7
Garmin
GPRMC
Me
ss
age
44
VLS-
128
U
se
r
Ma
nu
al
DRAFT
43
45
Table of Contents
Default Chapter
1
Figure C-1 Interface Box Mechanical Drawing 50-1483 Rev
1
Table of Contents
4
Chapter 1 • about this Manual
16
Manual Scope
16
Prerequisite Knowledge
16
Audience
16
Document Conventions
16
Table 1-1 Document Conventions
16
Chapter 2 • VLS-128 Overview
18
Overview
18
Figure 2-1 Example 3D Sensing System
18
Product Models
19
Time of Flight
19
Data Interpretation Requirements
19
Table 2-1 3D Sensing System Components
19
Chapter 3 • Safety Precautions
20
Warning and Caution Definitions
20
Caution Hazard Alerts
20
Safety Overview
20
Electrical Safety
20
Mechanical Safety
20
Laser Safety
20
Figure 3-1 Class 1 Laser
21
Chapter 4 • Unboxing & Verification
22
What's in the Box
22
Bulkhead Connectors
22
Ethernet Bulkhead Connector
22
Power+Gps Bulkhead Connector
22
Accessories
22
Variants
23
Verification Procedure
23
Network Setup in Isolation
23
Figure 4-1 Sensor Network Settings
24
Access Sensor's Web Interface
25
Figure 4-2 Interface Box (Power and Data Connections)
25
Figure 4-3 Sample Web Interface Main Configuration Screen
25
Visualize Live Sensor Data with Veloview
26
Figure 4-4 Veloview Open Sensor Stream
27
Veloview Operation
27
Chapter 5 • Installation & Integration
28
Overview
28
Mounting
28
Encapsulation, Solar Hats, and Ventilation
29
Connections
29
Interface Box and Cable
29
Operation Without an Interface Box
29
Power
29
Power Considerations
30
Chapter 6 • Key Features
31
Calibrated Reflectivity
31
Laser Return Modes
31
Single Return Modes: Strongest, Last
31
Multiple Returns
32
Dual Return Mode
32
Figure 6-1 a Single Return
32
Figure 6-2 Dual Return with Last and Strongest Returns
33
Figure 6-3 Dual Return with Second Strongest Return
34
Figure 6-4 Dual Return with Far Retro-Reflector
35
Phase Locking Multiple Sensors
36
Figure 6-5 Forestry Application Multiple Returns
36
Figure 6-6 Phase Locking Example
37
Chapter 7 • Sensor Inputs
38
Power Requirements
38
Interface Box Signals
39
Table 7-1 Interface Box Signals
39
Figure 7-1 Interface Box (Sensor Power and Data Connections)
39
Ethernet Interface
40
GPS, Pulse Per Second (PPS) and NMEA GPRMC Message
40
GPS Input Signals
40
Electrical Requirements
40
Timing and Polarity Requirements
40
Figure 7-2 Synchronizing PPS with NMEA GPRMC Message
40
Figure 7-3 PPS Signal Closely Followed by NMEA GPRMC Message
41
Figure 7-4 PPS Signal Followed 600 Ms Later by NMEA GPRMC Message
41
Figure 7-5 RS-232 Example Transmission
42
GPS Connection Scenarios
43
Connecting a Garmin 18X LVC GPS Receiver
43
Figure 7-6 Garmin 18X LVC Configuration
43
Figure 7-7 Garmin GPRMC Message
44
Connecting to a Computer's Serial Port
45
Connecting to a Microcomputer's UART
45
Figure 7-8 DB9 Pin-Outs (DTE) and USB-To-Serial Adapter
45
Figure 7-9 Signal Directly from UART (Incorrect Polarity)
45
NMEA Message Formats
46
Figure 7-10 Inverted Signal from UART (Correct Polarity)
46
Pre-NMEA Version 2.3 Message Format
46
NMEA Version 2.3 Message Format
47
Table 7-2 Pre-NMEA Version 2.3 Message Format
47
Table 7-3 Post-NMEA Version 2.3 Message Format
47
Accepting NMEA Messages Via Ethernet
48
Chapter 8 • Sensor Operation
49
Firing Sequence
49
Throughput Calculations
49
Data Packet Rate
49
Position Packet Rate
49
Total Packet Rate
49
Laser Measurements Per Second
50
Dual Return Mode
50
Single Return Mode (Strongest, Last)
50
Rotation Speed (RPM)
50
Horizontal Angular (Azimuth) Resolution
50
Rotation Speed Fluctuation and Point Density
51
Table 8-1 Rotation Speed Vs Resolution
51
Figure 8-1 Point Density Example
51
Chapter 9 • Sensor Data
52
Sensor Origin and Frame of Reference
52
Calculating X,Y,Z Coordinates from Collected Spherical Data
52
Packet Types and Definitions
53
Definitions
53
Figure 9-1 VLS-128 Sensor Coordinate System
53
Azimuth
54
Data Block
54
Data Point
54
Firing Sequence
54
Laser Channel
54
Time Stamp
54
Factory Bytes
55
Table 9-1 Factory Byte Values
55
Data Packet Structure
56
Figure 9-2 VLS-128 Single Return Mode Data Structure
56
Position Packet Structure
57
Figure 9-3 VLS-128 Dual Return Mode Data Structure
57
Table 9-2 Position Packet Structure Field Offsets
58
Table 9-3 PPS Status Byte Values
59
Discreet Point Timing Calculation
60
Figure 9-4 Wireshark Position Packet Trace
60
Figure 9-5 Firing Sequence Timing
61
Precision Azimuth Calculation
62
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 Elevation
63
Figure 9-9 VLS-128 Laser Pattern
64
Converting PCAP Files to Point Cloud Formats
65
Chapter 10 • Sensor Communication
67
Web Interface
67
Configuration Screen
68
Figure 10-1 VLS-128 Configuration Screen
68
Table 10-1 Configuration Screen Functionality and Features
68
Correctly Reset MAC Address to Factory MAC Address
70
MAC Address
70
System Screen
71
Table 10-2 System Screen Functionality and Features
71
Figure 10-2 VLS-128 System Screen
71
Info Screen
72
Table 10-3 Info Screen Functionality and Features
72
Figure 10-3 VLS-128 Info Screen
72
Diagnostics Screen
74
Table 10-4 System Screen Functionality and Features
74
Figure 10-4 VLS-128 Diagnostics Screen
74
Sensor Control with Curl
75
Using Curl with Velodyne Lidar Sensors
75
Curl Command Parameters
75
Command Line Curl Examples
76
Get Diagnostic Data
76
Conversion Formulas
77
Interpret Diagnostic Data
77
Top:hv
77
Top:lm20_Temp
78
Top:pwr_2_5V
78
Top:pwr_3_3V
78
Top:pwr_5V
78
Bot:i_Out
79
Bot:lm20_Temp
79
Top:pwr_Raw
79
Top:pwr_Vccint
79
Bot:pwr_1_25V
80
Bot:pwr_1_2V
80
Bot:pwr_2_5V
80
Bot:pwr_3_3V
80
Bot:pwr_5V
80
Bot:pwr_V_In
81
Get Sensor Status
81
Get Snapshot
81
Set Motor RPM
81
Reset System
82
Save Configuration
82
Set Field of View
82
Set Return Type (Strongest, Last, Dual)
82
Network Configuration
83
Set Data Port
83
Set DHCP
83
Set Gateway
83
Set Host (Destination) IP Address
83
Set Netmask
83
Set Network (Sensor) IP Address
83
Set Telemetry Port
83
Curl Example Using Python
84
Chapter 11 • Troubleshooting
86
Troubleshooting Process
86
Table 11-1 Common Problems and Resolutions
86
Turned DHCP On, Lost Contact with Sensor
88
Service and Maintenance
88
Fuse Replacement
88
Technical Support
89
Purchased through a Distributor
89
Factory Support
89
Support Desk
89
Return Merchandise Authorization (RMA)
89
Appendix A • Sensor Specifications
90
Appendix B • Firmware Update
91
Firmware Update Procedure
91
Figure B-1 Velodyne Downloads Page
91
Figure B-2 Compare Firmware Versions
92
Figure B-3 Select New Firmware Image
93
Figure B-4 Upload New Firmware Image
94
Figure B-5 Firmware Update Complete Page
95
Figure B-6 Finalize Firmware Update
96
Figure B-7 Verify Firmware Versions
97
Special Procedure to Update Firmware
97
If an Error Occurs
98
Appendix C • Mechanical Diagrams
99
Interface Box Mechanical Drawing
99
Mechanical Drawing
99
Optical Keep out Zone
99
Figure C-2 VLS-128 Mechanical Drawing 86-0137 REV a
101
Figure C-3 VLS-128 Optical Keep out Zone 86-0137 REV a
102
Appendix D • Wiring Diagrams
103
Interface Box Wiring Diagram
104
Figure D-1 Interface Box Wiring Diagram 86-0107A
104
Interface Box Schematic
105
Figure D-2 Interface Box Schematic 69-8230A
105
Appendix E • Veloview
106
Features
106
Install Veloview
107
Visualize Streaming Sensor Data
107
Figure E-1 Veloview Open Sensor Stream
107
Capture Streaming Sensor Data to PCAP File
108
Replay Captured Sensor Data from PCAP File
108
Figure E-2 Veloview Record Button
108
Figure E-3 Veloview Open Capture File
109
Figure E-4 Veloview Play Button
109
Figure E-5 Veloview Spreadsheet Tool
110
Figure E-6 Veloview Data Point Table
110
Figure E-7 Veloview Show Only Selected Elements
111
Figure E-8 Veloview Select All Points
111
Figure E-9 Veloview List Selected Points
112
Appendix F • Laser Pulse
113
The Semiconductor Laser Diode
113
Figure F-1 Laser Diode Concept
113
Laser Patterns
114
Laser Spot Pattern
114
Laser Scan Pattern
114
Figure F-2 Laser Spot Shape
114
Beam Divergence
115
Table F-1 VLS-128 Beam Divergence
115
Appendix G • Time Synchronization
116
Introduction
116
Background
116
Figure G-1 Web Interface PPS and GPS Qualifier Option Selections
116
PPS Qualifier
117
Require GPS Receiver Valid
117
Require PPS Lock
117
Figure G-2 Top of Hour Counters
117
Delay
118
GPS Qualifier
118
Application
118
Logic Tables
118
Figure G-3 Sub-Second Counter Behavior
118
Figure G-4 Minutes and Seconds Counter Behavior
119
Appendix H • Phase Lock
120
Phase Lock
120
Setting the Phase Lock
120
Figure H-1 Direction of Laser Firing
120
Application Scenarios
121
Figure H-2 Configuration Screen - Phase Lock
121
Figure H-3 Right and Left Sensor Phase Offset
122
Figure H-4 Fore and Aft Sensor Phase Offset
122
Field of View
123
Status
123
Figure H-5 Sensor Data Shadows
123
Appendix I • Sensor Care
125
Cleaning the Sensor
125
Required Materials
125
Determine Method of Cleaning
126
Method One
126
Method Two
126
Method Three
126
Method Four
127
Appendix J • Network Configuration
128
Ethernet and Network Setup
128
Defaults
128
Establishing Communication Via Ethernet
128
Network Considerations
129
Throughput Requirements
129
Figure J-1 Sensor Network Settings
129
Single Sensor Transmitting to a Broadcast Address
130
Multiple Sensors in the same Network
130
Figure J-2 Single Sensor Broadcasting on a Simple Network
130
Multiple Sensors Transmitting to a Broadcast Address
130
Multiple Sensors Transmitting to a Specific Address
131
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Velodyne VLS-128 Specifications
General
Brand
Velodyne
Model
VLS-128
Category
Accessories
Language
English
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