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Velodyne VLP-16 User Manual

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VLP-16 User Manual
63-9243 Rev. D

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  • Page 1 VLP-16 User Manual 63-9243 Rev. D...

  • Page 2: Limited Warranty

    Velodyne shall make the final determination as to whether its products are defective. Velodyne 's sole obligation for products failing to comply with this warranty shall be, at its option, to either repair, replace or issue credit for the nonconforming product where, within fourteen (14) days of the expiration of the warranty period, (i) Velodyne has received written notice of any nonconformity;...

  • Page 3: Revision History

    • ADDED: Ability to change sensor's Ethernet MAC Address from Web Interface. • IMPROVED: Low signal cross-talk filtering performance. • IMPROVED: Firmware update messages during update. VLP-16 3.0.37.0 2017-12-12 • IMPROVED: Phase Lock rotations error < ±5 degrees. • FIXED: Intermittent ghost returns at 40, 80 and greater than 124 meters.

  • Page 4: Table Of Contents

    Chapter 1 • About This Manual 1.1 Manual Scope 1.2 Prerequisite Knowledge 1.3 Audience 1.4 Document Conventions Chapter 2 • VLP-16 Overview 2.1 Overview 2.2 Product Models 2.3 Time of Flight 2.4 Data Interpretation Requirements Chapter 3 • Safety Precautions 3.1 Warning and Caution Definitions...
  • Page 5 5.4 Connections 5.4.1 Integrated Cable and Interface Box 5.4.2 Operation Without an Interface Box 5.4.3 Power Chapter 6 • Key Features 6.1 Calibrated Reflectivity 6.2 Laser Return Modes 6.2.1 Single Return Modes: Strongest, Last 6.2.2 Multiple Returns 6.2.3 Dual Return Mode 6.3 Phase Locking Multiple Sensors Chapter 7 •...
  • Page 6 9.4 Discreet Point Timing Calculation 9.5 Precision Azimuth Calculation 9.6 Converting PCAP Files to Point Cloud Formats Chapter 10 • Sensor Communication 10.1 Web Interface 10.1.1 Configuration Screen 10.1.1.1 MAC Address 10.1.1.2 Correctly reset MAC Address to Factory MAC Address VLP-16 User Manual...
  • Page 7 10.1.2 System Screen 10.1.3 Info Screen 10.1.4 Diagnostics Screen 10.2 Sensor Control with curl 10.2.1 Using curl with Velodyne LiDAR Sensors 10.2.2 curl Command Parameters 10.2.3 Command Line curl Examples 10.2.3.1 Get Diagnostic Data 10.2.3.2 Conversion Formulas 10.2.3.3 Interpret Diagnostic Data 10.2.3.3.1 top:hv...
  • Page 8 B.1.2 If An Error Occurs Appendix C • Mechanical Diagrams C.1 Interface Box Mechanical Drawing C.2 VLP-16 and Puck LITE Mechanical Drawing C.3 VLP-16 and Puck LITE Optical Drawing C.4 VLP-16 and Puck LITE Optical Keep Out Zone VLP-16 User Manual...
  • Page 9 C.5 Puck Hi-Res Mechanical Drawing C.6 Puck Hi-Res Optical Drawing C.7 Puck Hi-Res Optical Keep Out Zone Appendix D • Wiring Diagrams D.1 Interface Box Wiring Diagram D.2 Interface Box Schematic Appendix E • VeloView E.1 Features E.2 Install VeloView E.3 Visualize Streaming Sensor Data E.4 Capture Streaming Sensor Data to PCAP File E.5 Replay Captured Sensor Data from PCAP File...
  • Page 10 J.2 Network Considerations J.2.1 Throughput Requirements J.2.2 Single Sensor Transmitting to a Broadcast Address J.2.3 Multiple Sensors in the Same Network J.2.3.1 Multiple Sensors Transmitting to a Broadcast Address J.2.3.2 Multiple Sensors Transmitting to a Specific Address VLP-16 User Manual...
  • Page 11 Table 10-2 System Screen Functionality and Features Table 10-3 Info Screen Functionality and Features Table 10-4 System Screen Functionality and Features Table 11-1 Common Problems and Resolutions Table F-1 VLP-16 Beam Divergence Table F-2 Dimensions of VLP-16 Laser Spots at Distance...
  • Page 12 Figure 8-1 Firing Sequence Timing Figure 8-2 Point Density Example Figure 9-1 VLP-16 Sensor Coordinate System Figure 9-2 VLP-16 Single Return Mode Data Structure Figure 9-3 VLP-16 Dual Return Mode Data Structure Figure 9-4 Single Return Mode Packet Data Trace (packet start)
  • Page 13 Figure C-2 VLP-16 and Puck LITE Mechanical Drawing 86-0101 Rev B1 Figure C-3 VLP-16 and Puck LITE Optical Drawing 86-0101 Rev B1 Figure C-4 VLP-16 and Puck LITE Optical Keep Out Zone 86-0101 Rev B1 Figure C-5 Puck Hi-Res Mechanical Drawing 86-0129 Rev A...
  • Page 14 Figure H-4 Fore and Aft Sensor Phase Offset Figure H-5 Sensor Data Shadows Figure J-1 Sensor Network Settings Figure J-2 Single Sensor Broadcasting on a Simple Network Figure J-3 Multiple Sensors - Improper Network Setup Figure J-4 Multiple Sensors - Proper Network Setup VLP-16 User Manual...
  • Page 15 List of Equations Equation 8-1 Azimuth Resolution at 600 RPM Equation 10-1 Standard Voltage Conversion Equation 10-2 Standard Current Conversion Equation 10-3 Standard Temperature Conversion Equation F-1 Gap Between Scan Lines Equation H-1 Arc of Shadow...

  • Page 16: Chapter 1 • About This Manual

    This manual provides descriptions and procedures supporting the installation, verification, operation, and diagnostic eval- uation of the VLP-16, Puck LITE and Puck Hi-Res sensors. For readability, all products in the VLP-16 LiDAR sensor family are referred to as “VLP-16” in this manual, except where noted.
  • Page 17 Note: Notes such as this indicate important information. They call attention to an operating procedure or practice which may enhance user interaction with the product. Notes may also be used to prevent information loss or product damage. Chapter 1 • About This Manual...

  • Page 18: Figure 2-1 Example 3D Sensing System

    2.4 Data Interpretation Requirements 2.1 Overview The VLP-16 sensor uses an array of 16 infra-red (IR) lasers paired with IR detectors to measure distances to objects. The device is mounted securely within a compact, weather-resistant housing. The array of laser/detector pairs spins rapidly within its fixed housing to scan the surrounding environment, firing each laser approximately 18,000 times per second, providing, in real-time, a rich set of 3D point data.

  • Page 19: Chapter 2 • Vlp-16 Overview

    For more software details, see Converting PCAP Files to Point Cloud Formats on page 66 Note: Click the following link to view a list of Velodyne system integrators who can sell you imaging software or a complete system: http://velodyneLiDAR.com/integrators.php. Chapter 2 • VLP-16 Overview...

  • Page 20: Chapter 3 • Safety Precautions

    IMPORTANT: Read all installations instructions before powering up the sensor. Note: The VLP-16 sensor is not field serviceable. For servicing and repair, the equipment must be completely shut off, removed, packaged carefully, and shipped back to the manufacturer's facility with a completed RMA Form. See...

  • Page 21: Laser Safety

    No. 50, dated June 24, 2007. Figure 3-1 Class 1 Laser Note: The VLP-16 sensor is a CLASS 1 LASER PRODUCT. The product fulfills the requirements of IEC 60825-1:2014 (Safety of Laser Products). There are no controls or adjustments on the sensor itself that are user accessible.

  • Page 22: Chapter 4 • Unboxing & Verification

    A standard Velodyne VLP-16 sensor comes packaged in its own cardboard box. Ensure all the components are present: VLP-16 sensor with a fixed 3.0 m data/power cable terminated inside its Interface Box AC/DC power adapter and 1.8 m AC power cord (once assembled, this is the power cord) 1.0 m Ethernet cable...

  • Page 23: Network Setup In Isolation

    Note: Due to the large volume of data produced by the sensor when scanning, users are cautioned against connecting it to a corporate network. 1. Unpack the sensor and its accessories, and place them on a workbench or desk. Ensure the sensor is upright with clear space around it.

  • Page 24: Access Sensor's Web Interface

    1. Plug the Ethernet cable into the computer and then plug its other end into the Ethernet port on the sensor’s Inter- Figure 4-2 on the facing page face Box. shows the Interface Box, its external ports, internal sensor terminal, and fuse. VLP-16 User Manual...

  • Page 25: Figure 4-2 Interface Box (Power And Data Connections)

    Figure 4-2 Interface Box (power and data connections) 2. Connect power to the sensor’s Interface Box. When power is applied, two green LEDs in the Interface Box light up. The sensor begins scanning its environment and transmitting data approximately 30 seconds after power up. 3.

  • Page 26: Visualize Live Sensor Data With Veloview

    Now that the computer can access the sensor’s Web Interface, it’s time to get a first look at the sensor’s data. Note: VeloView is an open source visualization and recording application tailored for Velodyne LiDAR sensors. Other visualization software (e.g. ROS, DSR and PCL) can perform similar functions and may be used instead.

  • Page 27: Veloview Operation

    4.2.3.1 VeloView Operation 1. Power-up the sensor. 2. Start the VeloView application. Figure 4-4 below 3. Click on File->Open and select Sensor Stream ( Figure 4-4 VeloView Open Sensor Stream 4. The Sensor Configuration dialog will appear ( Figure 4-5 below ).

  • Page 28: Figure 4-6 Veloview Sensor Stream Display

    Figure 4-6 VeloView Sensor Stream Display Above is an example of a VeloView screen in an office, workbench or lab scenario. VLP-16 User Manual...

  • Page 29: Chapter 5 • Installation & Integration

    Chapter 5 • Installation & Integration This chapter provides important information for integrating the VLP-16 sensor into your application environment. 5.1 Overview 5.2 Mounting 5.3 Encapsulation, Solar Hats, and Ventilation 5.4 Connections 5.4.1 Integrated Cable and Interface Box 5.4.2 Operation Without an Interface Box 5.4.3 Power...

  • Page 30: Encapsulation, Solar Hats, And Ventilation

    The VLP-16 generates a moderate amount of heat during normal operation. Strategies for managing heat in hot weather include employing a "thermal hat," exposing the sensor to moving air, and drawing heat from the sensor with a heat sink (e.g.

  • Page 31: Integrated Cable And Interface Box

    Interface Box Signals on page 40 5.4.2 Operation Without an Interface Box The VLP-16's Interface Box is a convenience, but it also adds bulk. The sensor may be ordered and used without the Inter- face Box to accommodate the needs of the user. Contact Velodyne Sales for details (i.e.

  • Page 32: Chapter 6 • Key Features

    (e.g. road signs, license plates) in the high range. A retroreflector reflects light back to its source with a minimum of scattering. The VLP-16 provides its own light, with neg- ligible separation between transmitting laser and receiving detector, so retroreflecting surfaces pop with reflected IR light compared to diffuse reflectors that tend to scatter reflected energy.

  • Page 33: Multiple Returns

    The VLP-16 analyzes multiple returns and reports either the strongest return, the last return, or both returns, depending on the laser return mode setting. If the setting is Strongest and a pulse produces multiple returns, only the strongest reflec- tion results in a measurement.

  • Page 34: Figure 6-2 Dual Return With Last And Strongest Returns

    The majority of the beam hits the far wall and is (in this case) the strongest return. It's entirely possible, however, that the far wall might be far enough away that despite reflecting the majority of the beam, the return from the near wall would be the strongest return. VLP-16 User Manual...

  • Page 35: Figure 6-3 Dual Return With Second Strongest Return

    Figure 6-3 Dual Return with Second Strongest Return It's also possible that a small portion of the beam clips a retro-reflector and returns more energy than the majority of the beam, as in Figure 6-4 on the next page Chapter 6 • Key Features...

  • Page 36: Figure 6-4 Dual Return With Far Retro-Reflector

    6-5 on the facing page indicates a sample response when the laser pulse initially hits the upper canopy, penetrates it, and eventually hits the ground, producing multiple returns. Which laser return mode would be best in this situation? VLP-16 User Manual...

  • Page 37: Phase Locking Multiple Sensors

    6.3 Phase Locking Multiple Sensors When using multiple Velodyne LiDAR sensors in proximity to one another, users may observe interference between them due to one sensor picking up a reflection intended for another. To minimize this interference, the sensor provides a phase- locking feature that enables the user to control where the laser firings overlap.

  • Page 38: Figure 6-6 Phase Locking Example

    Figure 6-6 above indicate the firing direction of the sensor's laser at the moment it receives the rising edge of the PPS signal. Additional information for phase locking multiple sensors is located in Phase Lock on page 127 VLP-16 User Manual...

  • Page 39: Chapter 7 • Sensor Inputs

    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...

  • Page 40: Interface Box Signals

    Signal Specifications Signal Input/Output Black Ground Input Power Input Yellow GPS Sync Pulse Input White GPS Serial Receive Input Light Orange Ethernet TX+ Output Orange Ethernet TX- Output Light Blue Ethernet RX+ Input Blue Ethernet RX- Input VLP-16 User Manual...

  • Page 41: Ethernet Interface

    The ground signal from the GPS/INS is connected to the sensor’s Interface Box via the screw terminal labeled: “GROUND.” Note: You can use the provided GPS port on the Interface Box if using the Velodyne GPS Receiver (P/N 80- GPS18LVC).

  • Page 42: Figure 7-2 Synchronizing Pps With Nmea Gprmc Message

    Figure 7-2 Synchronizing PPS with NMEA GPRMC Message Figure 7-3 PPS Signal Closely Followed by NMEA GPRMC Message VLP-16 User Manual...

  • Page 43: Figure 7-4 Pps Signal Followed 600 Ms Later By Nmea Gprmc Message

    Figure 7-4 PPS Signal Followed 600 ms later by NMEA GPRMC Message The serial connection for the NMEA message follows the RS232 standard. The interface is capable of handling voltages between ±15 VDC. Low voltages are marks and represent a logical 1. High voltages are spaces and represent a logical 0.

  • Page 44: Gps Connection Scenarios

    There are three common connection scenarios: connecting to a sensor from a Velodyne-supplied Garmin 18x LVC GPS receiver, connecting to it from a computer's serial port, and connecting directly from a microcomputer’s UART.

  • Page 45: Connecting To A Microcomputer's Uart

    Figure 7-8 on the next page Figure 7-9 on the next page shows a signal directly from a Raspberry Pi UART output and shows the same output inverted into a signal compatible with your Velodyne sensor. Chapter 7 • Sensor Inputs...

  • Page 46: Nmea Message Formats

    Mode Indicator field was added after Magnetic Variation and before the Checksum. NMEA messages are terminated with sentence delimiter <CR><LF> (HEX 0D0A). 7.4.5.1 Pre-NMEA Version 2.3 Message Format Table 7-2 on the facing page provides a description of the pre-NMEA 2.3 message format contents shown below. VLP-16 User Manual...

  • Page 47: Nmea Version 2.3 Message Format

    $GPRMC,123519,A,4807.038,N,01131.000,E,022.4,084.4,230394,003.1,W*6A Table 7-2 Pre-NMEA Version 2.3 Message Format Value Description $GPRMC Recommended Minimum sentence 123519 Fix taken at 12:35:19 UTC Receiver status: A = Active, V = Void 4807.038,N Latitude 48 deg 07.038' N 01131.000,E Longitude 11 deg 31.000' E 022.4 Speed over the ground (knots) 084.4...

  • Page 48: Accepting Nmea Messages Via Ethernet

    <CR><LF> (HEX 0D0A, the standard), <CR> by itself, and <LF> by itself. The support follows the ad-hoc but widely supported NMEA over Ethernet approach utilized by the OpenCPN project. Additional information can be found at the following web sites: http://stripydog.blogspot.com/2015/03/nmea-0183-over-ip-unwritten-rules-for.html https://opencpn.org/wiki/dokuwiki/doku.php?id=opencpn:supplementary_software:nmea_instruments http://arundale.com/docs/ais/nmearouter.html VLP-16 User Manual...

  • Page 49: Chapter 8 • Sensor Operation

    Chapter 8 • Sensor Operation This chapter provides details on the laser firing sequence, point density, and how to determine throughput rate and angu- lar resolution. 8.1 Firing Sequence 8.2 Throughput Calculations 8.2.1 Data Packet Rate 8.2.2 Position Packet Rate 8.2.3 Total Packet Rate 8.2.4 Laser Measurements Per Second 8.3 Rotation Speed (RPM)

  • Page 50: Position Packet Rate

    Because the firing timing of the sensor is fixed at 55.296 μs per firing cycle, the speed of rotation changes the angular res- olution of the sensor. An example calculation for 600 RPM is given in Equation 8-1 below Equation 8-1 Azimuth Resolution at 600 RPM VLP-16 User Manual...

  • Page 51: Rotation Speed Fluctuation And Point Density

    By changing the RPM in the equation above you can calculate the azimuthal resolution for any rotation speed. Table 8-1 Rotation Speed vs Resolution Resolution 0.1° 0.2° 0.3° 1200 0.4° 8.3.2 Rotation Speed Fluctuation and Point Density Your sensor uses a feedback control function to maintain its rotational speed within ±3 RPM of its configured setting. This small variation in speed produces a small change in the azimuthal gaps with every revolution.

  • Page 52: Chapter 9 • Sensor Data

    A computation is necessary to convert the spherical data (radius r, elevation ω, azimuth α) from the sensor to Cartesian Figure 9-1 on the facing page coordinates. lists the formulas for converting spherical coordinates (R, ω, α) to Cartesian coordinates (X, Y, Z). VLP-16 User Manual...

  • Page 53: Table 9-1 Vertical Angles (Ω) By Laser Id And Model

    Figure 9-1 VLP-16 Sensor Coordinate System Table 9-1 below lists the fixed vertical/elevation angles for each laser in the sensor, along with vertical corrections. The set of angles vary by sensor model (see Factory Bytes on page 56 for more).

  • Page 54: Packet Types And Definitions

    Table 9-1 on the previous page lists lasers in the order they are fired. Though the VLP-16's lasers are organized in a single, vertical column, they are not fired from one end to the other. Instead, the firing sequence "hops around." This is to avoid "cross-talk"...

  • Page 55: Firing Sequence

    A firing sequence occurs when all the lasers in a sensor are fired. They are fired in a sequence specific to a given product line. Laser recharge time is included. A firing sequence is sometimes referred to as a firing group. It takes 55.296 μs to fire all 16 lasers in a VLP-16 and recharge. 9.3.1.2 Laser Channel A laser channel is a single 903 nm laser emitter and detector pair.

  • Page 56: Factory Bytes

    Table 9-2 below , the VLP-16 and Puck LITE share the same elevation angles. Hence, the two products share the same Product ID. Conversely, the Puck Hi-Res has a different Product ID since it has a different set of elevation angles.

  • Page 57: Figure 9-2 Vlp-16 Single Return Mode Data Structure

    If the strongest return is also the last return, then the second-strongest return is provided. If only one return was detected, the data will be identical in the even|odd block pairs (0|1, 2|3, 4|5, 6|7, 8|9, 10|11). Figure 9-2 VLP-16 Single Return Mode Data Structure Chapter 9 • Sensor Data...

  • Page 58: Figure 9-3 Vlp-16 Dual Return Mode Data Structure

    Figure 9-3 VLP-16 Dual Return Mode Data Structure The figures below show a Wireshark trace of a single packet in Single Return Mode. Figure 9-4 on the facing page shows the beginning of the packet and Figure 9-5 on the facing page shows packet end.

  • Page 59: Figure 9-4 Single Return Mode Packet Data Trace (Packet Start)

    Figure 9-4 Single Return Mode Packet Data Trace (packet start) Figure 9-5 Single Return Mode Packet Data Trace (ending) Chapter 9 • Sensor Data...

  • Page 60: Position Packet Structure

    Synchronizing to PPS PPS Locked Error A position packet is shown in the figure below. Packet offsets are on the left, raw data bytes in hex are in the center, and the ASCII interpretation is on the right. VLP-16 User Manual...

  • Page 61: Discreet Point Timing Calculation

    Figure 9-6 Wireshark Position Packet Trace Legend: light blue: Ethernet+IP+UDP packet header (42 bytes) orange: Timestamp (4 bytes) red: PPS status (1 byte) green: NMEA GPRMC sentence (length varies) 9.4 Discreet Point Timing Calculation For the purpose of geo-referencing LiDAR data, it is helpful to calculate the exact moment of a particular laser firing in order to more closely associate it with time stamped data from an INS.

  • Page 62: Figure 9-7 Firing Sequence Timing

    = \ (full_firing_cycle * dataBlockIndex) + (single_firing * dataPointIndex) return timing_offsets To verify the values are correct, you can print them out and compare them with values in Figure 9-9 on page 64 Figure 9-10 on page 65 VLP-16 User Manual...

  • Page 63: Figure 9-8 Example Data Point Timing Calculation

    timing_offsets = make_table(False) # False : single return mode print('\n'.join([', '.join(['{:8.3f}'.format(value) for value in row]) for row in timing_offsets])) Example: Calculate the exact firing time of the last firing in a packet if the timestamp value is 45,231,878 µs. Timestamp = 45,231,878 µs TimeOffset = timing_offsets[15][23] ExactPointTime = Timestamp + TimeOffset ExactPointTime = 45,231,878 + 1,306.368 µs...

  • Page 64: Figure 9-9 Single Return Mode Timing Offsets (In Μs)

    Figure 9-9 Single Return Mode Timing Offsets (in µs) VLP-16 User Manual...

  • Page 65: Precision Azimuth Calculation

    Figure 9-10 Dual Return Mode Timing Offsets (in µs) 9.5 Precision Azimuth Calculation The azimuth (α) reported by the sensor in each data block is the azimuth at the moment the first laser in a firing sequence fires. To get better precision when geo-referencing, it’s useful to precisely calculate the unique azimuth for each point by accounting for the firing timing.

  • Page 66: Converting Pcap Files To Point Cloud Formats

    X axis. 9.6 Converting PCAP Files to Point Cloud Formats Converting a packet capture (pcap) file of Velodyne LiDAR data to a LAS, LAZ, XYZ, PLY, or other point cloud file format can be a non-trivial process.
  • Page 67 LiDAR and translate the data into a single coordinate system. Most Velodyne LiDAR customers develop their own geo-referencing systems. However, inertial referencing and SLAM solutions are available through third parties, and many can be found on the system integrators page at: http://velo- dyneLiDAR.com/integrators.php.

  • Page 68: Chapter 10 • Sensor Communication

    10.1.1 Configuration Screen 10.1.2 System Screen 10.1.3 Info Screen 10.1.4 Diagnostics Screen 10.2 Sensor Control with curl 10.2.1 Using curl with Velodyne LiDAR Sensors 10.2.2 curl Command Parameters 10.2.3 Command Line curl Examples 10.2.4 curl Example using Python 10.1 Web Interface The easiest way to control a sensor’s operation is through its Web Interface.

  • Page 69: Configuration Screen

    10.1.1 Configuration Screen Figure 10-1 VLP-16 Configuration Screen Table 10-1 Configuration Screen Functionality and Features Function Description Default Laser Turns the sensor's laser ON or OFF. ON/OFF Strongest — Sensor provides only the strongest detected return. Last — Sensor provides only the last (temporally) detected return.
  • Page 70 IPv4 Address — Sensor IP address as specified by the user. 255.255.255.0 (Sensor) Mask — Sensor subnet mask as specified by the user. 192.168.1.1 Gateway — Sensor gateway as specified by the user. MAC Address - Sensor MAC address override. Set — Activates changes. VLP-16 User Manual...

  • Page 71: Mac Address

    PPS and GPS Qualifier functions. 10.1.1.1 MAC Address The ability to change the sensor's MAC Address was introduced with VLP-16 firmware release 3.0.34.0. It may be advantageous to do this for asset management in multi-sensor situations where the MAC address is the closest thing to a hard sensor ID, or as an anti-tracking measure.

  • Page 72: System Screen

    Once the sensor is done resetting, you may refresh the page and go back to the Configuration Screen. The MAC Address should match the Factory MAC Address. 10.1.2 System Screen Figure 10-2 VLP-16 System Screen Table 10-2 System Screen Functionality and Features Function Description Choose File —...

  • Page 73: Info Screen

    Table 10-3 Info Screen Functionality and Features Function Description Board — Top or Bottom board information. Mode — State of the Application Watchdog – Velodyne use only. Type — Velodyne Use Only. FPGA (top board) HW Version — Velodyne Use Only.
  • Page 74 Board — Top or Bottom board information. Mode – Velodyne use only. Type — Velodyne Use Only. FPGA (bottom board) HW Version — Velodyne Use Only. SOPC SYSID — Velodyne Use Only. SW Version — Current operating firmware version. Firmware Image Image —...

  • Page 75: Diagnostics Screen

    10.1.4 Diagnostics Screen Figure 10-4 VLP-16 Diagnostics Screen Table 10-4 System Screen Functionality and Features Function Description HV — Velodyne Use Only. A/D TD — Velodyne Use Only. Temp — Circuit board temperature. 5v — Internal voltage status. Top Board (Scaled) 2.5v —...

  • Page 76: Sensor Control With Curl

    10.2 Sensor Control with curl In addition to the Web Interface, Velodyne LiDAR sensors provide an HTTP interface for programmatic configuration and control. One of the easiest tools to use for this purpose is curl. curl is a command line program freely available on a wide variety of operating systems.

  • Page 77: Command Line Curl Examples

    1. addr=255.255.255.255 2. dport=2368 3. tport=8309 Network Settings can be set by providing the urlencoded key and data pair to http://192.168.1.201/cgi/setting/net: 1. addr=192.168.1.200 2. mask=255.255.255.0 3. gateway=192.168.1.2 4. dhcp=[on|off] Special Commands to Save settings to NVRAM and Reset the sensor: 1.

  • Page 78: Conversion Formulas

    Equation 10-1 above then scale the result by subtracting 5.0 and multiplying the result by 101.0. Example: hv = 2917 (raw value) (2917 * 5.0) / 4096 = 3.561 101.0 * (3.561 - 5.0) = -145.34 V VLP-16 User Manual...

  • Page 79: Top:lm20_Temp

    10.2.3.3.2 top:lm20_temp This field indicates the temperature of the top board. Its operating range is -25.0° C to 94.0° C. Equation 10-3 on the previous page To convert the raw value, use Example: lm20_temp = 1105 (raw value) (1105 * 5.0) / 4096 = 1.3489 -1481.96 + SQRT(2.1962E6 + ((1.8639 –...

  • Page 80: Top:pwr_Vccint

    -1481.96 + SQRT(2.1962E6 + ((1.8639 – 1.503) / 3.88E-6)) = 31.082° C 10.2.3.3.10 bot:pwr_1_2v This is the bottom board's 1.2 V rail. Its operating range is 1.0 V to 1.4 V. Equation 10-1 on page 78 To convert the raw value, use Example: VLP-16 User Manual...

  • Page 81: Bot:pwr_1_25V

    pwr_1_2v = 992 (raw value) (992 * 5.0) / 4096 = 1.211 V 10.2.3.3.11 bot:pwr_1_25v This is the bottom board's 1.25 V rail. Its operating range is 1.0 V to 1.4 V. To convert the raw value, use Equation 10-1 on page 78 Example: pwr_1_25v = 1 (raw value) (1 * 5.0) / 4096 = 0.001 V...

  • Page 82: Get Snapshot

    This has the same effect as setting the value for the Motor RPM in the Web Interface. Command: curl --data “rpm=[integer]” http://192.168.1.201/cgi/setting Example: curl --data “rpm=600” http://192.168.1.201/cgi/setting VLP-16 User Manual...

  • Page 83: Set Field Of View

    10.2.3.7 Set Field of View Sets the field of view (0° to 359°). Numbers outside this range are quietly ignored. This has the same effect as setting the FOV Start and FOV End values on the Web Interface. Command: curl --data “[start]|[end]=[integer]” http://192.168.1.201/cgi/setting/fov Examples: curl --data "start=10"...

  • Page 84: Set Data Port

    The script below demonstrates how to do basic operations with a sensor using PycURL, a Python package built on libcurl. It works in Python 2 and 3. For more information on PycURL go to: http://pycurl.io/docs/. The script expects the sensor to have its default IP address. If it’s different, change Base_URL accordingly. VLP-16 User Manual...
  • Page 85 The sensor object contains the interface to the actual sensor. A buffer is required because PycURL does not provide stor- age for the network response. After each sensor request, the HTTP response code is checked for success. The first operation is to reset the sensor. After a delay, the script changes a couple of sensor parameters. Waiting another 10 seconds (for the motor to spin up), sensor status is obtained and printed to standard out.
  • Page 86 204 (OK) Sensor laser is On, motor rpm is 301 VLP-16 User Manual...

  • Page 87: Chapter 11 • Troubleshooting

    Chapter 11 • Troubleshooting This section provides detail on how to troubleshoot your sensor, how to request technical assistance, how to have the sensor repaired, and how to replace the fuse in the Interface Box. 11.1 Troubleshooting Process 11.1.1 Turned DHCP On, Lost Contact With Sensor 11.2 Service and Maintenance 11.2.1 Fuse Replacement 11.3 Technical Support...

  • Page 88: Turned Dhcp On, Lost Contact With Sensor

    When the sensor's DHCP is set to ON, the configuration saved, and the sensor is reset or power cycled, the sensor will no longer have an IP address as it expects a DHCP server to assign it one. VLP-16 User Manual...

  • Page 89: Service And Maintenance

    On Mac OS and various linuxes, use the ‘arp -a’ command. Velodyne LiDAR sensors respond to ARP. The arp command displays the current IP-to-physical address translation table. If desired, you can narrow it to a specific interface with the ‘-N if_addr’ argument. Look for an address that matches the pattern 169.254.x.x.

  • Page 90: Technical Support

    If your product was damaged during initial shipping or has failed during or beyond its warranty period, a Return Mer- chandise Authorization (RMA) must be issued prior to shipping the product to Velodyne LiDAR for service. The Return Merchandise Authorization (RMA) form can be downloaded from the Velodyne LiDAR Downloads page at: http://velodyneLiDAR.com/downloads.html.

  • Page 91: Appendix A • Sensor Specifications

    Sensor Specifications Sensor specifications (including environmental and regulatory specifications) have been moved to product data sheets found on the Velodyne LiDAR web site at this address: http://www.velodynelidar.com/downloads.html#datasheets. For additional information, contact Velodyne LiDAR Sales: http://www.velodynelidar.com/contacts.php. Appendix A • Sensor Specifications...

  • Page 92: Appendix B • Firmware Update

    This procedure works best with the Chrome browser. 1. Point your browser to the Velodyne Downloads page at http://velodyneLiDAR.com/downloads.html. Figure B-1 Velodyne Downloads Page 2. Click the FIRMWARE icon (on the left) to advance to the Firmware section. Note the latest version available.

  • Page 93: Figure B-2 Compare Firmware Versions

    Spe- cial Procedure to Update Firmware on page 98 7. If your VLP-16's firmware version predates 3.0.24.x, it cannot be updated in the field. Stop the regular procedure here and, instead, follow the Return Merchandise Authorization (RMA) on page 90 process to return the unit to the factory for firmware update.

  • Page 94: Figure B-3 Select New Firmware Image

    10. Using the dialog, locate the new firmware file on your computer and select it. 11. Verify that the correct file for your sensor model has been selected. It must have the ‘.flash’ file extension. 12. Click Update Firmware's Update button to initiate the update process. VLP-16 User Manual...

  • Page 95: Figure B-4 Upload New Firmware Image

    Figure B-4 Upload New Firmware Image 13. As shown in the figure above, a progress bar indicating the percentage of update completion is displayed. 14. When this first stage of the update is complete, the Firmware Update Complete screen (below) is displayed. But wait, there's more.

  • Page 96: Figure B-5 Firmware Update Complete Page

    16. A second progress bar is shown. Note: This step should take approximately 70 seconds. If it completes in less than 10 seconds an error occurred. Instead of continuing, perform the If An Error Occurs on page 99 procedure. VLP-16 User Manual...

  • Page 97: Figure B-6 Finalize Firmware Update

    Figure B-6 Finalize Firmware Update 17. When processing completes, press the Reset System button to finalize the update. The sensor will perform a warm boot. 18. The Configuration screen will be shown when the sensor finishes rebooting. 19. Return to the Info page. Appendix B •...

  • Page 98: Special Procedure To Update Firmware

    3. Press Update to update the bottom board. 4. Wait a bit. 5. You will eventually see another screen entitled, “Firmware Upload Complete.” 6. Do not press the Process Firmware Update button to flash the top board. *This is where the process deviates VLP-16 User Manual...

  • Page 99: If An Error Occurs

    Why the change? The starting address of the NIOS code was changed in 3.0.34 (VLP-16) and 2.2.23 (HDL-32E). For example, when 3.0.34 is flashed onto the sensor, it is not loaded until the sensor is reset. As a result, the older firmware is grabbing the NIOS code at the wrong starting address of the new firmware image to push onto the top board.

  • Page 100: Appendix C • Mechanical Diagrams

    C.1 Interface Box Mechanical Drawing C.2 VLP-16 and Puck LITE Mechanical Drawing C.3 VLP-16 and Puck LITE Optical Drawing C.4 VLP-16 and Puck LITE Optical Keep Out Zone C.5 Puck Hi-Res Mechanical Drawing C.6 Puck Hi-Res Optical Drawing C.7 Puck Hi-Res Optical Keep Out Zone...

  • Page 101: Interface Box Mechanical Drawing

    C.1 Interface Box Mechanical Drawing Figure C-1 Interface Box Mechanical Drawing 50-6001 Rev A Appendix C • Mechanical Diagrams...

  • Page 102: And Puck Lite Mechanical Drawing

    C.2 VLP-16 and Puck LITE Mechanical Drawing Figure C-2 VLP-16 and Puck LITE Mechanical Drawing 86-0101 Rev B1 VLP-16 User Manual...

  • Page 103: And Puck Lite Optical Drawing

    C.3 VLP-16 and Puck LITE Optical Drawing Figure C-3 VLP-16 and Puck LITE Optical Drawing 86-0101 Rev B1 Appendix C • Mechanical Diagrams...

  • Page 104: And Puck Lite Optical Keep Out Zone

    C.4 VLP-16 and Puck LITE Optical Keep Out Zone Figure C-4 VLP-16 and Puck LITE Optical Keep Out Zone 86-0101 Rev B1 VLP-16 User Manual...

  • Page 105: Puck Hi-Res Mechanical Drawing

    C.5 Puck Hi-Res Mechanical Drawing Figure C-5 Puck Hi-Res Mechanical Drawing 86-0129 Rev A Appendix C • Mechanical Diagrams...

  • Page 106: Puck Hi-Res Optical Drawing

    C.6 Puck Hi-Res Optical Drawing Figure C-6 Puck Hi-Res Optical Drawing 86-0129 Rev A VLP-16 User Manual...

  • Page 107: Puck Hi-Res Optical Keep Out Zone

    C.7 Puck Hi-Res Optical Keep Out Zone Figure C-7 Puck Hi-Res Optical Keep Out Zone 86-0129 Rev A Appendix C • Mechanical Diagrams...

  • Page 108: Appendix D • Wiring Diagrams

    Appendix D • Wiring Diagrams This appendix provides technical wiring and schematic drawings and diagrams. High resolution versions may be accessed on the Velodyne LiDAR web site. D.1 Interface Box Wiring Diagram D.2 Interface Box Schematic VLP-16 User Manual...

  • Page 109: Interface Box Wiring Diagram

    D.1 Interface Box Wiring Diagram Figure D-1 Interface Box Wiring Diagram 86-0107A Appendix D • Wiring Diagrams...

  • Page 110: Interface Box Schematic

    D.2 Interface Box Schematic Figure D-2 Interface Box Schematic 69-8230A VLP-16 User Manual...

  • Page 111: Appendix E • Veloview

    E.5 Replay Captured Sensor Data from PCAP File E.1 Features VeloView provides real-time visualization of 3D LiDAR data from Velodyne LiDAR sensors. VeloView can also playback pre-recorded data stored in “pcap” (Packet Capture) files. Note: VeloView does not support .pcapng files.

  • Page 112: Install Veloview

    Installers for VeloView for Windows (32-bit and 64-bit) and Macintosh computers can be found on the USB stick included with your sensor. Links to the latest installers can be found on the Velodyne web site. You can install VeloView from the USB stick or follow the steps below to install from the web site.

  • Page 113: Figure E-2 Veloview Select Sensor Calibration

    Figure E-2 VeloView Select Sensor Calibration 5. VeloView begins displaying the sensor data stream. Figure E-3 VeloView Sensor Stream Display The stream can be paused by pressing the Play button. Press it again to resume streaming. Appendix E • VeloView...

  • Page 114: Capture Streaming Sensor Data To Pcap File

    3. Recording will continue until the Record button is clicked again, which stops the recording and closes the pcap file. Sensor Specifications on page 91 Note: Velodyne LiDAR sensors generate a lot of data. (See for data rates.) The pcap file can become quite large if the recording duration is lengthy.

  • Page 115: Figure E-5 Veloview Open Capture File

    Figure E-5 VeloView Open Capture File 2. An Open File dialog will pop up. Navigate to a pcap file, select it, and click the Open button. The Sensor Con- figuration dialog will pop-up. 3. Select your sensor type and click OK. VeloView should display frame 0.

  • Page 116: Figure E-7 Veloview Spreadsheet Tool

    Drag column headers left or right to reorder them. Sort the table by clicking column headers. And you can make the table itself wider by dragging the table’s sides left or right. Make Points_m_XYZ wider to expose the XYZ points themselves. Figure E-8 VeloView Data Point Table 7. Click Show only selected elements. VLP-16 User Manual...

  • Page 117: Figure E-9 Veloview Show Only Selected Elements

    Figure E-9 VeloView Show Only Selected Elements Since no points are selected yet, the table will be empty. 8. Click the Select All Points tool. This turns your mouse into a point selection tool. Figure E-10 VeloView Select All Points 9.

  • Page 118: Figure E-11 Veloview List Selected Points

    Azimuth is in hundredths of a degree. Distances are with respect to the sensor’s origin. At any point you can save a subset of data frames by doing File > Save As > Select Frames. VLP-16 User Manual...

  • Page 119: Appendix F • Laser Pulse

    Appendix F • Laser Pulse This section provides details on your sensor’s laser diodes, the laser pulse and scan patterns, and certain beam char- acteristics of the laser pulses. F.1 The Semiconductor Laser Diode F.2 Laser Patterns F.2.1 Laser Spot Pattern F.2.2 Laser Scan Pattern F.2.3 Beam Divergence F.1 The Semiconductor Laser Diode...

  • Page 120: Laser Patterns

    F.2.2 Laser Scan Pattern Figure F-3 on the facing page Inside each VLP-16 sensor is a vertical array of lasers. shows three adjacent, concurrent, laser scans on the corner of a wall about 3 meters from the sensor. Each laser scan is composed of multiple laser spots or pulses.

  • Page 121: Beam Divergence

    Equation F-1 Gap Between Scan Lines Figure F-3 Laser Spots on a Wall Photo of sensor laser pattern reflecting off of a flat target a short distance away. F.2.3 Beam Divergence As a laser pulse propagates outward from the sensor the cross-section of the laser beam describing the path of the pulse gradually, steadily grows larger.

  • Page 122: Table F-1 Vlp-16 Beam Divergence

    VLP-16 beam divergence on the horizontal axis (i.e. along the direction of the laser scan) differs from beam divergence on the vertical axis (transverse to the scan) by roughly a factor of two. Table F-1 VLP-16 Beam Divergence Horizontal Beam Divergence Vertical Beam Divergence 3.0 mrad (0.18 deg)

  • Page 123: Appendix G • Time Synchronization

    G.6 Logic Tables G.1 Introduction The following describes the new interface options found in sensor firmware version 3.0.34.0 (VLP-16). These two new options control how the sensor utilizes the GPS information supplied to the sensor. The first control option determines how the sensor utilizes the PPS signal (PPS Qualifier). The second control option determines how the sensor utilizes the timestamp provided in a National Marine Electronics Association (NMEA) sentence (GPS Qualifier).

  • Page 124: Pps Qualifier

    PPS signal regardless of GPS receiver satellite status. G.3.2 Require PPS Lock This setting determines the manner in which the sensor validates the PPS signal prior to adjusting the internal sub-second counter to the rising edge of that PPS signal. VLP-16 User Manual...

  • Page 125: Delay

    If Require PPS Lock is set to On the sensor utilizes the value in the Delay field to determine the validity of a PPS signal prior to synchronizing its internal sub-second counter to the rising edge of a PPS signal. If Require PPS Lock is set to Off the sensor ignores the value in the Delay field and the sensor uses a rolling win- dow of 2 cycles before the PPS signal may be considered valid and then used as a time reference by the sensor.

  • Page 126: Figure G-4 Minutes And Seconds Counter Behavior

    Figure G-4 Minutes and Seconds Counter Behavior Note: If no NMEA sentence is provided, the Minutes and Seconds counter is driven by the rollover of the sub-seconds counter. VLP-16 User Manual...

  • Page 127: Appendix H • Phase Lock

    When using multiple sensors close to one another (e.g. mounted on top of a vehicle), occasional interference patterns may appear in the sensor data. Velodyne provides firing controls to minimize this interference by controlling where data is gathered. The sensors can then be configured to ignore the data containing the interference.

  • Page 128: Application Scenarios

    H.1.2 Application Scenarios When setting the phase lock offset for two or more sensors, Velodyne recommends the sensors be configured to fire at each other. This is the optimal configuration for minimizing interference because the location of the interference is under user control.

  • Page 129: Figure H-3 Right And Left Sensor Phase Offset

    Figure H-3 Right and Left Sensor Phase Offset When sensors are placed on the roof in the fore and aft positions, the phase offsets are set to 180° and 0° as shown in Fig- ure H-4 below Figure H-4 Fore and Aft Sensor Phase Offset In both scenarios the two sensors create data shadows behind each other.

  • Page 130: Field Of View

    Then, using each sensor's Web Interface or curl commands (or equivalent programmatic commands), configure the sensor's horizontal FOV start and end angles. See Configuration Screen on page 69 Set Field of View on page 83 more. VLP-16 User Manual...

  • Page 131: Appendix I • Sensor Care

    Appendix I • Sensor Care To accurately sense its environment, the VLP-16 sensor should be kept clean, especially its ring lens. This section lists various approved cleaning methods, but it is important to use the correct method. Start with Determine Method of Cleaning on the next page I.1 Cleaning the Sensor...

  • Page 132: Determine Method Of Cleaning

    If the first five characters of the sensor’s serial number are AE230 or greater, or if the sensor was serviced by Velodyne LiDAR after August 17th, 2015, use either Method 2 or 3 below.

  • Page 133: Method Four

    1. Spray NACL Precision Optics Cleaner solution onto a clean, dry microfiber cloth. 2. Gently wipe the VLP-16’s ring lens along the curve of the sensor, not top-to-bottom. I.1.6 Method Four Use a diluted mixture (50/50) of Simple Green and distilled water to remove particulates on the lens with a rinsing action.

  • Page 134: Appendix J • Network Configuration

    Each sensor’s IP address is set at the factory to 192.168.1.201. By default, the sensor sends UDP data packets to broadcast address 255.255.255.255. Note: Each sensor has a unique MAC Address and Serial Number set at the factory by Velodyne LiDAR that cannot be changed.

  • Page 135: Network Considerations

    7. Enter the subnet mask: 255.255.255.0 When using a Windows OS based computer, you can press the TAB key and the subnet mask automatically pop- ulates with the 255.255.255.0 value. 8. Click OK. 9. We recommend disabling any firewall software the computer may have running. 10.

  • Page 136: Single Sensor Transmitting To A Broadcast Address

    Note: Each sensor must have its own, unique IP address in a given network. When using multiple Velodyne LiDAR sensors in a network it is imperative that you set each sensor's destination IP address to a specific, non-broadcast IP address. However, two or more sensors may share the same destination address.

  • Page 137: Multiple Sensors Transmitting To A Specific Address

    Figure J-3 Multiple Sensors - Improper Network Setup J.2.3.2 Multiple Sensors Transmitting to a Specific Address The solution is to configure each sensor on such a network to transmit their data to a non-broadcast address. If every sensor in the same network transmits packets to a specific, non-broadcast, destination address (doesn’t have to be the same one), as illustrated in Figure J-4 below , the other sensors will not suffer unnecessary network overhead.
  • Page 138 Corporate Headquarters: Velodyne LiDAR, Inc. 5521 Hellyer Ave San Jose, CA 95138 U.S.A. www.VelodyneLiDAR.com Phone +1 408-465-2800 Fax +1 408-779-9227 Email lidar@velodyne.com VLP-16 User Manual 63-9243 Rev. D...

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