Velodyne HDL-32E - Manuals

Velodyne HDL-32E – Manual in PDF format online.

Manuals:

Manual

Manual Velodyne HDL-32E

Summary

Page 3 - c a u t i o n — s a f e t y n o t i c e; Caution; Read Instructions —; All operating and use instructions should be followed.

[ i ] c a u t i o n — s a f e t y n o t i c e Caution To reduce the risk of electric shock and to avoid violating the warranty, do not open sensor body. Refer servicing to qualifiedservice personnel.The lightning flash with arrowhead symbol is intended to alert the user to the presence of uninsulate...

Page 4 - i n t r o d u c t i o n

Congratulations on your purchase of a Velodyne 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 andinterpretation, along with GPS ...

Page 5 - Principles of Operation; P r i n c i P L e s o f o P e r at i o n

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 wa...

Page 6 - The standard setup involves:; Case Contents; The shipping case contains:; Mount Base; Figure 2: Sensor Base Mounting; s e t u P

This section describes the standard set up assuming you are connecting the sensor to a standard computer or laptop and mounting thesensor on a vehicle. For other connections and mounting locations, please contact Velodyne for technical assistance. The standard setup involves: 1. Unpacking the shippi...

Page 7 - Before operating the sensor, make sure that:; Weather; amplitude, 11 msec duration shock and 3 Grms 5 Hz to; Wiring; s e t u P

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 Before operating the sens...

Page 8 - Each of these steps is described in detail, below.; Mac ID; This table must be built and stored internal to the point-cloud; u s a G e

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 useDigital Sensor Recorder (D...

Page 9 - used in DSR to determine 3D locations of HDL- 32E data points.

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 forvertCorrection is the vertical correction angle for each laser, as viewed from the back of the unit and stated in degrees. Positive values havethe laser po...

Page 11 - GPS Interface Box Front & Back View

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

Page 12 - synching runs in one of two modes:; Laser Timing

Packet Format and Status Byte for GPS Time 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 formattedas follows: 4 bytes: 32 bit unsigned integer time stamp. This value represents microseconds from the top of the ...

Page 13 - Laser Firing Sequence; yaw of the sensor relative to the vehicle.; Firing order

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 interleaved firingsfrom the lower and upper “banks” of 16 lasers, as follows: The interleaving firing pattern is designed is to avoid and potential ghost...

Page 14 - t r o u B L e s H o o t i n G; Use this chart to troubleshoot common problems with the HDL-32E.; Unit doesn’t spin Verify power connection and polarity.

[ 11 ] H D L - 3 2 E U s e r ’s M a n u a l t r o u B L e s H o o t i n G s e r V i c e a n d M a i n t e n a n c e Use this chart to troubleshoot common problems with the HDL-32E. Problem Resolution Unit doesn’t spin Verify power connection and polarity. Verify proper voltage – should be between 9 ...

Page 15 - s P e c i f i c at i o n s

[ 12 ] H D L - 3 2 E U s e r ’s M a n u a l s P e c i f i c at i o n s 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) • 3...

Page 16 - Install; To install the DSR on your computer:; Calibrate; a P P e n d i x a : d i G i ta L s e n s o r r e c o r d e r ( d s r )

Digital Sensor Recorder (DSR) DSR is a windows-based 3 D point cloud visualization software program designed for use with the HDL- 32E. This software is an “out of thebox” tool for the rendering and recording of point cloud data from the HDL unit. You can develop visualization software using the DSR...

Page 17 - Playback of Recorded files:; PLAY button = PAUSE button =; a P P e n d i x a

Once the input of streaming data has been confirmed through the live playback feature, click on the Record button and the program willrequest 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 ...

Page 19 - Data Packet Format; a P P e n d i x B : H d L - 3 2 e s a M P L e d ata Pa c K e t s

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 packetwhich contains GPS and positioning data located on Port 8308. The packet at Port 2368 contains a header, a data payload of firing data andstatus d...

Page 20 - a P P e n d i x B; Blank

Figure B1. [ 17 ] H D L - 3 2 E U s e r ’s M a n u a l a P P e n d i x B 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

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

Page 24 - Ethernet Packet Example; Captured via Wireshark.

Ethernet Packet Example Captured via Wireshark. [ 21 ] H D L - 3 2 E U s e r ’s M a n u a l a P P e n d i x B

Page 25 - Coordinate Calculation Algorithm Sample Code; the calculation code is:; a P P e n d i x c : c o o r d i n at e c a L c u L at i o n a L G o r i t H M s a M P L e c o d e

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

Page 26 - a P P e n d i x d : c a L i B r at i o n a n d o r i e n tat i o n

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

Page 27 - a P P e n d i x e : e t H e r n e t t r a n s i t t i M i n G ta B L e

[ 24 ] H D L - 3 2 E U s e r ’s M a n u a l a P P e n d i x e : e t H e r n e t t r a n s i t t i M i n G ta B L e n ot es : Al l t im es in m ic ro se co nd s. C om bi ne th e va lu e sh ow n fro m th e pa ck et ti m es ta m p (m ic ro se co nd s fro m th e to p of th e ho ur ), to a rri ve a t a c...