Velodyne VLS-128 User Manual
  1. Manuals
  2. Brands
  3. Velodyne Manuals
  4. Accessories
  5. VLS-128
  6. User manual

Velodyne VLS-128 User Manual

Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
VLS-128 User Manual
63-9483 Rev. A
DRAFT

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the VLS-128 and is the answer not in the manual?

Questions and answers

Related Manuals for Velodyne VLS-128

Summary of Contents for Velodyne VLS-128

  • Page 1: Figure C-1 Interface Box Mechanical Drawing 50-1483 Rev

    VLS-128 User Manual 63-9483 Rev. A DRAFT...
  • Page 2 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 Release Sensor Firmware Release Notes Date • DRAFT release of B1 version. • Added thermal and ADC fields to the VLS-128 5.0.6.0 2018-xx-xx Position Packet. For full details, see the Release Notes at http://www.velodynelidar.com/downloads.html#firmware. Last Updated: 2018-09-12 DRAFT...

  • 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 • VLS-128 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 Chapter 5 • Installation & Integration 5.1 Overview 5.2 Mounting 5.3 Encapsulation, Solar Hats, and Ventilation 5.4 Connections 5.4.1 Interface Box and Cable 5.4.2 Operation Without an Interface Box 5.4.3 Power 5.4.3.1 Power Considerations 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...
  • Page 6 9.3.1.4 Azimuth 9.3.1.5 Data Block 9.3.1.6 Time Stamp 9.3.1.7 Factory Bytes 9.3.2 Data Packet Structure 9.3.3 Position Packet Structure 9.4 Discreet Point Timing Calculation 9.5 Precision Azimuth Calculation 9.6 Converting PCAP Files to Point Cloud Formats VLS-128 User Manual DRAFT...
  • Page 7 10.1.1.2 Correctly reset MAC Address to Factory MAC Address 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...
  • Page 8 11.3.2 Factory Support 11.3.3 Support Desk 11.4 Return Merchandise Authorization (RMA) Appendix A • Sensor Specifications Appendix B • Firmware Update B.1 Firmware Update Procedure B.1.1 Special Procedure to Update Firmware B.1.2 If An Error Occurs VLS-128 User Manual DRAFT...
  • Page 9 Appendix C • Mechanical Diagrams C.1 Interface Box Mechanical Drawing C.2 VLS-128 Mechanical Drawing C.3 VLS-128 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...
  • 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 VLS-128 User Manual DRAFT...
  • Page 11 Table 10-1 Configuration Screen Functionality and Features 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 VLS-128 Beam Divergence DRAFT...
  • Page 12 Figure 7-10 Inverted Signal from UART (correct polarity) Figure 8-1 Point Density Example Figure 9-1 VLS-128 Sensor Coordinate System Figure 9-2 VLS-128 Single Return Mode Data Structure Figure 9-3 VLS-128 Dual Return Mode Data Structure Figure 9-4 Wireshark Position Packet Trace Figure 9-5 Firing Sequence Timing Figure 9-6 Single Return Mode Timing Offsets (in µs)
  • Page 13 Figure C-1 Interface Box Mechanical Drawing 50-1483 Rev 1 Figure C-2 VLS-128 Mechanical Drawing 86-0137 REV A Figure C-3 VLS-128 Optical Keep Out Zone 86-0137 REV A Figure D-1 Interface Box Wiring Diagram 86-0107A Figure D-2 Interface Box Schematic 69-8230A...
  • Page 14 Figure J-3 Multiple Sensors - Improper Network Setup Figure J-4 Multiple Sensors - Proper Network Setup VLS-128 User Manual DRAFT...
  • 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 DRAFT...

  • Page 16: Chapter 1 • About This Manual

    1.1 Manual Scope This manual provides descriptions and procedures supporting the installation, verification, operation, and diagnostic eval- uation of the VLS-128 sensor. 1.2 Prerequisite Knowledge This manual is written with the premise that the user has some basic engineering experience and general understanding of LiDAR technology.
  • 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 DRAFT...

  • Page 18: Overview

    2.4 Data Interpretation Requirements 2.1 Overview The VLS-128 sensor uses 128 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 assembly of laser/detector pairs spins rapidly within its fixed housing to scan the surrounding environment, firing each laser over 18,500 times per second, providing, in real- time, a rich set of 3D point data.

  • Page 19: Product Models

    For more software details, see Converting PCAP Files to Point Cloud Formats on page 65 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 • VLS-128 Overview...

  • Page 20: Chapter 3 • Safety Precautions

    IMPORTANT: Read all installations instructions before powering up the sensor. Note: The VLS-128 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: Figure 3-1 Class 1 Laser

    Figure 3-1 Class 1 Laser Note: The VLS-128 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

    4.1.1 Bulkhead Connectors The VLS-128 has two bulkhead connectors on the bottom of the sensor, enabling cabling to be hidden from public view while shielding them and the connectors from the elements. Placement of the connectors can be found in the...

  • Page 23: Variants

    Interface Box with 7.5 A fuse and 3 m hardwired Molex power cable Standalone Interface Box with 7.5 A fuse and mating Molex connector Each Interface box includes a 1.8 m AC power adapter. Accessories are available for purchase either directly from Velodyne Sales or from a reseller.

  • Page 24: Figure 4-1 Sensor Network Settings

    In some cases it may be necessary to disable the computer’s firewall or configure it to allow UDP I/O on that Ethernet inter- face. How to do this is not covered here as the process varies widely. VLS-128 User Manual DRAFT...

  • Page 25: Access Sensor's Web Interface

    4.2.2 Access Sensor’s Web Interface Now the computer is ready to connect to the sensor. 1. Plug the Ethernet cable into the computer and then plug its other end into the Ethernet port on the sensor’s Inter- face Box. Figure 4-2 below shows the Interface Box, its external ports, internal sensor terminal, and fuse.

  • 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 Chapter 4 • on page 22 4. The Sensor Configuration dialog will appear ( ).

  • Page 28: Overview

    Chapter 5 • Installation & Integration This chapter provides important information for integrating the VLS-128 sensor into your application environment. 5.1 Overview 5.2 Mounting 5.3 Encapsulation, Solar Hats, and Ventilation 5.4 Connections 5.4.1 Interface Box and Cable 5.4.2 Operation Without an Interface Box 5.4.3 Power...

  • Page 29: Encapsulation, Solar Hats, And Ventilation

    Interface Box Signals on page 39 5.4.2 Operation Without an Interface Box The VLS-128's Interface Box is a convenience, but it also adds bulk. The sensor may be ordered and used without the Interface Box to accommodate the needs of the user. Contact Velodyne Sales for details (i.e.

  • Page 30: Power Considerations

    The following items are guidelines for input power to Velodyne sensors. 1. Power: Typical power consumption when the VLS-128 is stationary is approximately 30 W. Under certain con- ditions, power consumption will increase. To assure proper operations during those conditions the recommended power supply output (i.e.

  • Page 31: 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 VLS-128 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 32: Multiple Returns

    The VLS-128 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 33: Figure 6-2 Dual Return With Last And Strongest Returns

    Figure 6-2 Dual Return with Last and Strongest Returns As shown in Figure 6-3 on the next page , in the event the strongest return is the last return, the second-strongest return is reported. 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.

  • Page 34: 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 facing page VLS-128 User Manual DRAFT...

  • Page 35: Figure 6-4 Dual Return With Far Retro-Reflector

    Figure 6-4 Dual Return with Far Retro-Reflector The dual return function is often used in forestry applications where measurement of the height of trees is desired. Figure 6-5 on the next page indicates a sample response when the laser pulse initially hits the upper canopy, penetrates it, and eventually hits the ground, producing multiple returns.

  • Page 36: 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 37: Figure 6-6 Phase Locking Example

    Figure 6-6 Phase Locking Example The red arrows shown in 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 120 Chapter 6 •...

  • Page 38: Chapter 7 • Sensor Inputs

    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 VLS-128 User Manual DRAFT...

  • Page 39: Interface Box Signals

    7.2 Interface Box Signals Figure 7-1 Interface Box (sensor power and data connections) Table 7-1 Interface Box Signals Signal Specifications Signal Input/Output Black Ground Input Yellow GPS Sync Pulse Input White GPS Serial Receive Input Light Orange Ethernet TX+ Output Orange Ethernet TX- Output...

  • Page 40: 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 41: Figure 7-3 Pps Signal Closely Followed By Nmea Gprmc Message

    Figure 7-3 PPS Signal Closely Followed by NMEA GPRMC Message Figure 7-4 PPS Signal Followed 600 ms later by NMEA GPRMC Message Chapter 7 • Sensor Inputs DRAFT...

  • Page 42: Figure 7-5 Rs-232 Example Transmission

    The serial line idle state (MARK) is a low voltage indicating a logical 1. When the start bit is asserted, the positive voltage will be asserted representing a logical 0. As an example, the transmission of an ASCII "$" character is shown in Figure 7-5 below Figure 7-5 RS-232 Example Transmission VLS-128 User Manual DRAFT...

  • Page 43: 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 44: Figure 7-7 Garmin Gprmc Message

    Figure 7-7 below cision GPS time. The signals from the Garmin receiver will be similar to those shown in where the signal is normally low and zeros are represented by the high voltage. Figure 7-7 Garmin GPRMC Message VLS-128 User Manual DRAFT...

  • Page 45: Connecting To A Computer's Serial Port

    Raspberry Pi UART output and Figure 7-10 on the next page shows the same output inverted into a signal compatible with your Velodyne sensor. Figure 7-9 Signal Directly from UART (incorrect polarity) 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. $GPRMC,123519,A,4807.038,N,01131.000,E,022.4,084.4,230394,003.1,W*6A VLS-128 User Manual DRAFT...

  • Page 47: Nmea Version 2.3 Message Format

    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 Track made good (degrees True)

  • 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 VLS-128 User Manual DRAFT...

  • 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: Laser Measurements Per Second

    An example calculation for 600 RPM is given in Equation 8-1 below Equation 8-1 Azimuth Resolution at 600 RPM By changing the RPM in the equation above you can calculate the azimuthal resolution for any rotation speed. VLS-128 User Manual DRAFT...

  • Page 51: Rotation Speed Fluctuation And Point Density

    Table 8-1 Rotation Speed vs Resolution Resolution 0.09594° 0.19188° 0.28782° 1200 0.38376° 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. Consequently, over time, the sensor automatically “fills in the gaps”...

  • Page 52: Chapter 9 • Sensor Data

    Sensor data origin (0,0,0) is 66.11 mm (2.603 inches) above the sensor base, on the center axis, as shown in Figure 1 (see the side and top views), which also shows the sensor's frame of reference. See also VLS-128 Mechanical Drawing on page 101 9.2 Calculating X,Y,Z Coordinates from Collected Spherical Data...

  • Page 53: Packet Types And Definitions

    Figure 9-1 VLS-128 Sensor Coordinate System 9.3 Packet Types and Definitions There are two types of packets generated by the sensor: Data packets and Position packets. Position packets are some- times referred to as telemetry packets, or GPS packets. Data packets contain the 3D data measured by the sensor as well as the calibrated reflectivity of the surface from which the light pulse was returned.

  • Page 54: Firing Sequence

    Laser recharge time is included. A firing sequence is sometimes referred to as a firing group. A firing sequence is not allowed to span multiple data packets. On average, it takes 53.3 μs to fire all 128 lasers in a VLS-128 and recharge. VLS-128 sensors fire their lasers in groups of eight.

  • Page 55: Factory Bytes

    Strongest 0x37 (55) HDL-32E 0x21 (33) Last Return 0x38 (56) VLP-16 0x22 (34) Dual Return 0x39 (57) Puck LITE 0x22 (34) Puck Hi-Res 0x24 (36) VLP-32C 0x28 (40) Velarray 0x31 (49) VLS-128 0xA1 (161) Chapter 9 • Sensor Data DRAFT...

  • Page 56: Data Packet Structure

    Laser Return Modes on page 31 for an illustration of what Strongest, Last, and Dual mean in this context. There are several key differences between the packet structures. Figure 9-2 VLS-128 Single Return Mode Data Structure VLS-128 User Manual DRAFT...

  • Page 57: Position Packet Structure

    Figure 9-3 VLS-128 Dual Return Mode Data Structure 9.3.3 Position Packet Structure The role of the Position Packet (often called the Telemetry Packet) is to provide a copy of the most recent, supported NMEA sentence received from an external GPS/INS/IMU source as well as the Pulse Per Second status, plus a time stamp representing when the position packet was assembled, and possibly other related info.

  • Page 58: Table 9-2 Position Packet Structure Field Offsets

    1: Thermal shutdown Last shutdown tem- Temperature of unit when thermal shutdown 0xCC perature occurred Temperature of unit at 0xCD Temperature of unit (bottom board) at power up power up 0xCE- NMEA sentence GPRMC or GPGGA 0x14D VLS-128 User Manual DRAFT...

  • Page 59: Table 9-3 Pps Status Byte Values

    Number Address Description Data Range Offset Bytes 0x14E- Reserved unused (null bytes) 0x1FF The GPRMC sentence is terminated with CR/LF and padded to end of payload with null bytes. Table 9-3 PPS Status Byte Values Value Description No PPS detected Synchronizing to PPS PPS Locked Error...

  • Page 60: Discreet Point Timing Calculation

    INS. By using the firing timing information given in Figure 9-5 on the facing page you are able to compute the exact firing time for each data point. VLS-128 User Manual DRAFT...

  • Page 61: Figure 9-5 Firing Sequence Timing

    This means that timing offsets for firings before that point will be negative. Figure 9-5 Firing Sequence Timing VLS-128 lasers are fired in groups of eight at widely separated angles to minimize IR crosstalk. The sequence of firings is specified in...

  • Page 62: Precision Azimuth Calculation

    The figures below provide both the angular offsets to apply per laser, and an illustration of where the offsets put the laser in the firing pattern. VLS-128 User Manual DRAFT...

  • Page 63: Figure 9-8 Vls-128 Azimuth Offsets By Elevation

    Figure 9-8 VLS-128 Azimuth Offsets by Elevation Chapter 9 • Sensor Data DRAFT...

  • Page 64: Figure 9-9 Vls-128 Laser Pattern

    Figure 9-9 VLS-128 Laser Pattern 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. These precision azimuths may be calculated/interpolated using the timing offsets shown in...

  • Page 65: 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 66 LiDAR data into a single coordinate system. Two popular techniques Velodyne LiDAR customers use for geo-referencing are inertial referencing and Simultaneous Localization and Mapping (SLAM). With inertial referencing, the location and orientation of the sensor at every moment is recorded with an Inertial Navigation System (INS).

  • Page 67: Web Interface

    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 68: Configuration Screen

    10.1.1 Configuration Screen Figure 10-1 VLS-128 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 69 Function Description Default the strongest, the sensor provides the second-strongest return. If only one return is detected, the two values will be identical. Sets the sensor’s internal spin rate. Valid values include the range from 300 to 1200 RPM, and 0. Setting it to 0 during active scanning will auto-disable the Motor RPM sensor’s lasers, which re-enable automatically the next time RPM is set in the valid non-zero range.

  • Page 70: Mac Address

    Clicking this button generates an ASCII text file (name format: <Seri- Download alNumber>.hdl) for downloading. It contains a JSON object capturing the Snapshot sensor’s state at that moment. The file can be sent to Velodyne Technical Sup- port on page 89 for analysis and to obtain troubleshooting advice.

  • Page 71: 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 VLS-128 System Screen Table 10-2 System Screen Functionality and Features Function Description Choose File —...

  • Page 72: 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 73 Function Description SOPC SYSID — Velodyne Use Only. SW Version — Current operating firmware version. Firmware Image Image — Firmware type (Failsafe and Application). Firmware Version Version — Number of the stored Failsafe and Application images. Failsafe boot(00) — Velodyne Use Only.

  • Page 74: Diagnostics Screen

    10.1.4 Diagnostics Screen Figure 10-4 VLS-128 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 75: 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 76: Command Line Curl Examples

    Returns a JSON-formatted string containing values as seen on the Diagnostics page of the sensor’s Web Interface. Command: curl http://192.168.1.201/cgi/diag.json Example Response: "volt_temp":{ "top":{ "hv":2917, "lm20_temp":1105, "pwr_5v":2075, "pwr_2_5v":2047, "pwr_3_3v":2693, "pwr_raw":1428, "pwr_vccint":977 "bot":{ "i_out":2086, "pwr_1_2v":992, "lm20_temp":1231, "pwr_5v":2046, "pwr_2_5v":2046, "pwr_3_3v":2692, "pwr_v_in":910, "pwr_1_25v":1 VLS-128 User Manual DRAFT...

  • Page 77: Conversion Formulas

    10.2.3.2 Conversion Formulas Equation 10-1 Standard Voltage Conversion Equation 10-2 Standard Current Conversion Equation 10-3 Standard Temperature Conversion 10.2.3.3 Interpret Diagnostic Data Use the formulas above to convert raw diagnostic data fields below to usable values. Some fields are scaled by additional factors.

  • Page 78: Top:lm20_Temp

    (2047 * 5.0) / 4096 = 2.499 V 10.2.3.3.5 top:pwr_3_3v This is the top board's 3.3 V rail. Its operating range is 3.1 V to 3.5 V. Equation 10-1 on the previous page To convert the raw value, use Example: VLS-128 User Manual DRAFT...

  • Page 79: Top:pwr_Raw

    pwr_3_3v = 2693 (raw value) (2693 * 5.0) / 4096 = 3.287 V 10.2.3.3.6 top:pwr_raw This is the top board's unregulated power rail. Its operating range is 1.6 V to 1.9 V. Equation 10-1 on page 77 To convert the raw value, use Example: pwr_raw = 1428 (raw value) (1428 * 5.0) / 4096 = 1.743...

  • Page 80: Bot:pwr_1_2V

    This is the bottom board's 5.0 V rail. Its operating range is 4.8 V to 5.2 V. Equation 10-1 on page 77 To convert the raw value, use then scale the result by multiplying it by 2.0. Example: VLS-128 User Manual DRAFT...

  • Page 81: Bot:pwr_V_In

    pwr_5v = 2046 (raw value) (2046 * 5.0) / 4096 = 2.498 2.498 * 2.0 = 4.995 V 10.2.3.3.15 bot:pwr_v_in This is the voltage of the input power. Its operating range is 8.0 V to 19.0 V. To convert the raw value, use Equation 10-1 on page 77 then scale the result by multiplying it by 11.0.

  • Page 82: Set Field Of View

    Resets the sensor. This command performs the same operation as pressing the Reset System button under the System tab in the Web Interface, or if you cycled power to the sensor. Command: curl --data "reset_system" http://192.168.1.201/cgi/reset Example Response: The system resets. VLS-128 User Manual DRAFT...

  • Page 83: Network Configuration

    10.2.3.11 Network Configuration Use the curl commands below to alter the network configuration of the sensor. Once changed, the settings must be saved and the sensor reset for the new configuration to take effect. 10.2.3.12 Set Host (Destination) IP Address This command sets the destination IP address where firing data and Position/Telemetry packets are sent.

  • Page 84: Curl Example Using Python

    Base_URL = 'http://192.168.1.201/cgi/' sensor = pycurl.Curl() buffer = BytesIO() rc = sensor_do(sensor, Base_URL+'reset', urlencode({'data':'reset_system'}), buffer) if rc: time.sleep(10) rc = sensor_do(sensor, Base_URL+'setting', urlencode({'rpm':'300'}), buffer) if rc: time.sleep(1) rc = sensor_do(sensor, Base_URL+'setting', urlencode({'laser':'on'}), buffer) if rc: time.sleep(10) VLS-128 User Manual DRAFT...
  • Page 85 response = urllib2.urlopen(Base_URL+'status.json') if response: status = json.loads(response.read()) print 'Sensor laser is %s, motor rpm is %s' % \ (status['laser']['state'], status['motor']['rpm']) sensor.close() Typical output looks like the following: http://192.168.1.201/cgi/reset data=reset_system: 204 (OK) http://192.168.1.201/cgi/setting rpm=300: 204 (OK) http://192.168.1.201/cgi/setting laser=on: 204 (OK) Sensor laser is On, motor rpm is 301 Chapter 10 •...

  • Page 86: Chapter 11 • Troubleshooting

    Wireshark sniffs packets promiscuously but VeloView does not. VeloView needs permission Can see data in Wire- to receive packets from the system firewall, if active. shark but not Check: VeloView No firewall is active on receiving computer. VLS-128 User Manual DRAFT...
  • Page 87 Problem Resolution Sensor's destination address. Port numbers are set to 2368 (data) and 8308 (position/telemetry). Verify: Ethernet wiring is functional. Packet output using another application (e.g. VeloView/Wireshark). Receiving computer's network settings. Cannot see sensor’s Correct static IP address in your computer's network settings. Web Interface No security software is installed which may block Ethernet broadcasts.

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

    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 89: 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 90: Appendix A • Sensor Specifications

    Appendix A • 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. VLS-128 User Manual...

  • Page 91: 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 92: Figure B-2 Compare Firmware Versions

    Figure B-2 Compare Firmware Versions Note: The firmware image labeled “Failsafe” is the original image programmed into the sensor when it was man- ufactured. It cannot be updated. VLS-128 User Manual DRAFT...

  • Page 93: Figure B-3 Select New Firmware Image

    Figure B-3 Select New Firmware Image 6. Click the System button. 7. Click the Choose File button under Update Firmware. 8. Using the dialog, locate the new firmware file on your computer and select it. 9. Verify that the correct file for your sensor model has been selected. It must have the ‘.flash’ file extension. 10.

  • Page 94: Figure B-4 Upload New Firmware Image

    11. As shown in the figure above, a progress bar indicating the percentage of update completion is displayed. 12. When this first stage of the update is complete, the Firmware Update Complete screen (below) is displayed. But wait, there's more. Internally, you've updated the bottom board but not the top, yet. VLS-128 User Manual DRAFT...

  • Page 95: Figure B-5 Firmware Update Complete Page

    Figure B-5 Firmware Update Complete Page 13. Now click the Process Firmware Update button to initiate the second stage of the procedure. The firmware image that you just uploaded is being prepared for use by the sensor. 14. A second progress bar is shown. Note: This step should take approximately 70 seconds.

  • Page 96: Figure B-6 Finalize Firmware Update

    15. When processing completes, press the Reset System button to finalize the update. The sensor will perform a warm boot. 16. The Configuration screen will be shown when the sensor finishes rebooting. 17. Return to the Info page. VLS-128 User Manual DRAFT...

  • Page 97: Special Procedure To Update Firmware

    Figure B-7 Verify Firmware Versions 18. Verify that the Firmware Application Version (red box) matches the version of the firmware downloaded and installed. Also verify that the same version appears in the SW Version column for both the Top and Bottom boards (green box).

  • Page 98: If An Error Occurs

    Also verify that the same version appears in the SW Version column for both the Top and Bottom boards (green box in Figure B-2 on page 92 ). At this point they should all match. VLS-128 User Manual DRAFT...

  • Page 99: Appendix C • Mechanical Diagrams

    Appendix C • Mechanical Diagrams This appendix provides technical drawings and diagrams of mechanical assemblies. High resolution versions may be accessed on the Velodyne LiDAR web site. C.1 Interface Box Mechanical Drawing C.2 VLS-128 Mechanical Drawing C.3 VLS-128 Optical Keep Out Zone Appendix C •...

  • Page 103: 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 Appendix D • Wiring Diagrams...

  • Page 104: Interface Box Wiring Diagram

    D.1 Interface Box Wiring Diagram Figure D-1 Interface Box Wiring Diagram 86-0107A VLS-128 User Manual DRAFT...

  • Page 105: Interface Box Schematic

    D.2 Interface Box Schematic Figure D-2 Interface Box Schematic 69-8230A Appendix D • Wiring Diagrams DRAFT...

  • Page 106: 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 107: 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 108: Capture Streaming Sensor Data To Pcap File

    VeloView begins writing packets to your pcap file. 3. Recording will continue until the Record button is clicked again, which stops the recording and closes the pcap file. Note: Velodyne LiDAR sensors generate a lot of data. (See Sensor Specifications on page 90 for data rates.) The pcap...

  • Page 109: Figure E-3 Veloview Open Capture File

    Figure E-3 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 110: Figure E-5 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-6 VeloView Data Point Table 7. Click Show only selected elements. VLS-128 User Manual DRAFT...

  • Page 111: Figure E-7 Veloview Show Only Selected Elements

    Figure E-7 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-8 VeloView Select All Points 9.

  • Page 112: Figure E-9 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. VLS-128 User Manual DRAFT...

  • Page 113: 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 114: Laser Patterns

    The long axis of the rectangle coincides with the direction of the laser scan. Figure F-2 Laser Spot Shape F.2.2 Laser Scan Pattern The gap between scan lines can be calculated with the following equation: Equation F-1 Gap Between Scan Lines VLS-128 User Manual DRAFT...

  • Page 115: Beam Divergence

    The angular measure of this increase in beam path diameter is called Beam Divergence. VLS-128 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.

  • Page 116: Appendix G • Time Synchronization

    The TOH is comprised of two separate counters. One counter maintains the number of minutes and seconds since the top of the hour, and the other counter maintains the sub-second count ( Figure G-2 on the facing page VLS-128 User Manual DRAFT...

  • Page 117: Pps Qualifier

    Figure G-2 Top of Hour Counters The combined value represents the number of microseconds since the top of the hour. It ranges from 0 to 3,599,999,999 μs -- there are 3.6 × 10 μs in one hour. The sub-second counter range alone spans 0 to 999,999 μs. The sensor continuously monitors the PPS input assessing the timing characteristics of any pulses presented.

  • Page 118: Delay

    (LiDAR, IMU, RGB cameras, etc.) will be clocked off the same time source (the internal clock in the GPS receiver) in the event the GPS fix becomes invalid. This allows for proper reconciliation of the data during post- or real-time processing. G.6 Logic Tables Figure G-3 Sub-Second Counter Behavior VLS-128 User Manual DRAFT...

  • Page 119: 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. Appendix G • Time Synchronization DRAFT...

  • Page 120: 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 121: 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 122: Figure H-3 Right And Left Sensor Phase Offset

    Figure H-5 on the facing page . To do that, you need to know the diameter of the sensors (see Sensor Specifications on page 90 ) and distance between the sensor centers. VLS-128 User Manual DRAFT...

  • Page 123: Field Of View

    H.3 Status No version of VLS-128 firmware has been released yet. Below are notes on pre-release revs regarding Phase Lock. Release 5.0.5.x of the firmware has a bug related to PPS and Phase Lock. Phase Lock may be enabled and PPS locked, but the phase achieved will differ from the phase offset you set by roughly 60 degrees.
  • Page 124 Release 5.0.6.0 of the firmware appears to have trouble with GPS and PPS. Since PPS is required for Phase Lock, Phase Lock isn't usable. VLS-128 User Manual DRAFT...

  • Page 125: Appendix I • Sensor Care

    6. NACL Precision Optics Cleaner (Method 3 ONLY, Optional) 7. Simple Green (Method 4 ONLY) 8. Distilled water (Method 4 ONLY) 9. 99% isopropyl alcohol (Method 4 ONLY) Note: Avoid using hard water when cleaning the VLS-128 sensor. Appendix I • Sensor Care DRAFT...

  • Page 126: 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 127: Method Four

    1. Spray NACL Precision Optics Cleaner solution onto a clean, dry microfiber cloth. 2. Gently wipe the VLS-128’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 128: 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 129: 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 130: 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 131: 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 132 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 VLS-128 User Manual 63-9483 Rev. A DRAFT Updated 2018-09-12...

Table of Contents

Save PDF