HDL-32E - Velodyne LiDAR
Contents
1. pue popcoau si duiejssun joxoed jo ay ye pea s angea nou Ja spuooesaru duierssux eyed eui uMous INA Saturn SIJON Lote te te pe te fe Te fe for fee pe per fae for Por fee ie fae fee for ae for Par fie Tae ef ete tee esc Too peo ler ler oc Tu fes enn Test 007 oe eer oc enc tor enc Eo foe fore foe fore ree fers pere fore foes fare fore eee LC EE owe 26 Velodyne Velodyne LiDAR Inc 345 Digital Drive Morgan Hill CA 95037 408 465 2800 voice 408 779 9227 fax 408 779 9208 service fax www velodynelidar com Service Email lidarservice velodyne com Sales Email lidar velodyne com All Velodyne LiDAR products are made in the U S A Specifications subject to change without notice Other trademarks or registered trademarks are property of their respective owner 63 9113 HDL 32E REV H September 20152. 00e0 00 00 00 00 00 00 00 OO 00 00 00 00 00 00 00 OO OOfO 53 Oe db 1a 00 00 00 24 47 50 52 4d 43 2c 31 GPRMC 1 0100 39 30 37 32 39 2c 41 2 33 37 30 38 2e 33 31 38 90729 3708 318 0110 34 2c 46 2c 31 32 31 33 39 2e 32 38 33 39 57 4 N 1213 9 2839 W 0120 2c 30 30 35 2e 31 2 30 39 37 2e 37 30 33 30 005 1 0 97 7 030 0130 34 31 31 2c 30 31 34 2e 38 45 44 30 31 411 014 8 0 01 Ready toload or capture 23 APPENDIX C COORDINATE CALCULATION ALGORITHM SAMPLE CODE HDL 32E User s Manual Coordinate Calculation Algorithm Sample Code After removing all the correction parameters except vertical correction the calculation code is firingData computeCoords guintl6 laserNum boost shared ptr CalibrationDB db GLpos t amp pos guintl6 idx laserNum VLS LASER PER FIRING boost shared ptr CalibrationPoint cal db getCalibration laserNum if data points idx distance O coords idx setX 0 0 coords idx setY 0 0 coords idx setZ 0 0 return float distance db gt getDistLSB float data points idx distance II Get measured distance distancel float cosVertAngle cal getCosVertCorrection float sinVertAngle cal getSinVertCorrection float cosRotAngle rotCosTable data gt position float sinRotAngle rotSinTable data position floa
3. a n IL od 000000 0080808 sem 6 a m a m n d 10000 camma 66 1000000 aww 6 E a m Td 88 o T Figure 3 Calibration values as seen in DSR File Properties 16 APPENDIX A DSR Key Controls Zoom Z Zoom in Shift Z Zoom out Z Axis Rotation Y Rotate CW Shift Y Rotate CCW X Axis Rotation P Rotate CW Shift P Rotate CCW Y Axis Rotation R Rotate CW Shift R Rotate CCW Z Shift F Forward B Back X Shift L Left H Right Y Shift U Up D Down Aux Functions Ctrl Z Direction Fine Movement Alt 2 Y P R F B L H U D Direction Very Fine Movement DSR Mouse Controls Rotational Left Button Move Slide Right Button Move Zoom Scroll forward 7 Zoom In Scroll backward Zoom Out 7 HDL 32E User s Manual APPENDIX B HDL 32E SAMPLE DATA PACKETS HDL 32E User s Manual 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 packet which contains GPS and positioning data located on Port 8308 The packet at Port 2368 contains a header a data payload of firing data and status data Data packets are assembled with the collection of all firing data for twelve laser firing sequences The laser distanc
4. hhmmss s format for GPS 18 5Hz Status A Valid position V NAV receiver warning Latitude ddmm mmm format for GPS 18 PC LVC ddmm mmmmm format for GPS 18 5Hz leading zeros must be transmitted Latitude hemisphere N or S Longitude ddmm mmm format for GPS 18 PC LVC ddmm mmmmnm format for GPS 18 5Hz leading zeros must be transmitted Longitude hemisphere E or W Speed over ground GPS 18 PC and LVC 000 0 to 999 9 knots GPS 18 5Hz 000 00 to 999 99 knots leading zeros will be transmitted Course over ground 000 0 to 359 9 degrees true leading zeros will be transmitted UTC date of position fix ddmmyy format Magnetic variation 000 0 to 180 0 degrees leading zeros will be transmitted Magnetic variation direction E or W westerly variation adds to true course Mode indicator only output if NMEA 0183 version 2 30 active A Autonomous D Differential E Estimated N Data not valid 22 APPENDIX B HDL 32E User s Manual Ethernet Packet Example Captured via Wireshark hdl 32 04032011 ROAD pcap Wireshark File Edit View Go Capture Analyze Statistics Telephony Tools Help BasealsuxesaiueesozziseBmBaeenm Filter Expression Clear Apply No Time Source Destination Protocol Info Em pores care equo 73 0 037115 192 168 17 105 192 168 3 255 UDP Source port 74 0 037610 192 168 117 105 192 1
5. please contact Velodyne for technical assistance The standard setup involves 1 Unpacking the shipping case contents 2 Securely mounting the sensor base to a vehicle or other scanning platform 3 Connecting power to the sensor 4 Connecting the sensor s data output to the computer Case Contents The shipping case contains HDL 32E sensor unit with approximately 3 meter cable terminated at an interface box Desktop AC DC power adapter AC cord 1 meter Ethernet cable Garmin GPS 18LV GPS receiver with 5 meter cable CD with User manual Check www velodynelidar com for updates Calibration file db xml sample data sets and miscellaneous documents DSR Viewer software Mount Base The sensor base provides mounting holes on the base The sensor can be mounted at any angle from 0 to 360 with respect to the sensor base Refer to the figure below for location of the four 10 32 threaded 3 8 deep mounting holes 5 68 OVERALL HEIGHT TWO 156 LOCATING FEATURES FOR 5 32 DOWELL PINS FOUR 10 32 THREADED MOUNTING HOLES 3 8 DEEP INTERFACE CABLE 3 METERS LONG 03 36 Figure 2 Sensor Base Mounting 5 G SETUP HDL 32E User s Manual 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
6. from the GPS device Further the sync pulse and NMEA record must be issued sequentially The sync pulse length is not critical typical lengths are between 20ms and 200ms but the GPRMC record must start between 50ms and 500ms after the end of the sync pulse Note The GPRMC record can be configured for either hhmmss format or hhmmss s format Note The connector within the supplied interface box can be used to interface the GPS receiver or it can be wired directly as indicated within the box 9 USAGE HDL 32E User s Manual The images below show the GPS receiver included with the HDL 32E GPS EQUIPMENT HDL 32E ETHERNET CABLE AC CORD POWER ADAPTER INTERFACE BOX Interface Box Front amp Back View Interface Box Interface Box Top view Front view 10 USAGE HDL 32E User s Manual 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 formatted as follows 4 bytes 32 bit unsigned integer time stamp This value represents microseconds from the top of the hour to the first laser firing in the packet 2 bytes blank Time Stamping Accuracy Rules The following rules and subsequent accuracy apply for GPS time stamping 1 If the GPS isn t connected GPS Status 0 the HDL 32E starts running on its own clock starting at midnight Jan 1 2000 Expect a drift of about 5 seconds pe
7. 68 3 255 UDP Source port https amp Frame 73 554 bytes on wire 4432 bits 554 bytes captured 4432 bits 8 Ethernet II Src velodyne 20 11 69 60 76 88 20 11 69 Dst Broadcast ff ff fl Internet Protocol src 192 168 17 105 192 168 17 105 Dst 192 168 3 255 192 User Datagram Protocol src Port https 443 Dst Port 8308 8308 Data 512 bytes 0000 ff ff ff ff ff ff 60 76 88 20 11 69 08 00 45 00 0010 02 1c 00 O1 00 OO 80 11 2 17 cO a8 11 69 cO a8 0020 03 ff 01 bb 20 74 02 08 00 00 00 00 00 00 00 00 Les 0030 00 00 00 00 00 OO OO 00 a8 Of 26 10 38 23 4b 30 amp 0040 6 Of 21 10 32 23 41 30 cc Of 40 10 d9 2f 59 30 2 A0 8 70 0050 00 00 OO dd dd 00 00 00 00 00 0060 00 00 00 00 00 00 00 00 00 00 00 00 00 OO 0070 00 00 00 00 00 OO 0080 00 00 00 00 00 00 00 00 00 OO 0050 00 00 00 00 00 OO 00 00 00 00 00 OO 0030 00 00 OO 00 00 00 00 00 00 00 00 OO 00 00 OO 00 00 00 00 00 OO 00 00 00 00 00 00 OO 00 00 00 00 00 00 OO 0040 00 00 OO 00 00 00 00 00 OO OO
8. CH String and Definition 48 72 H Hours 15 21 21 Hours 9 pm GPS receiving both sync 41 65 signal and NMEA time 4D 77 M Minutes 38 19 19 Minutes command record 53 83 5 Seconds 37 55 55 Seconds V GPS receiving x 56 86 command record only Blank 68 D Date OF 15 15 day of the Month wla P GPS receiving syr 4E 78 N Month 12 12 Month December only Blank Figure B1 19 APPENDIX B HDL 32E User s Manual 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 Positioning Ethernet Packet Format HDL 32E Figure B3 for interpretation of data output GYRO1 ACCEL12X ACCEL2 X CABLE CABLE ACCEL1Y ACCEL3 X 1 0 degrees ACCEL2 Y ACCEL3 Y CABLE J ROTATION DIRECTION o gt GYROS Figure B2 Note Each gyro incorporates a 2 axis accelerometer which results in redundancy in some axial directions 20 APPENDIX B HDL 32E User s Manual User Datagram Protocol UDP Positioning Ethernet Packet Format HDL 32 Destination port 8308 42 Ethernet Header 14 Not used 2 1 S
9. PC or laptop RJ45 Ethernet port Operate Before operating the sensor make sure that the sensor is in acceptable environmental conditions the sensor is securely mounted Weather The unit is weatherproofed to withstand wind rain and other adverse weather conditions The unit s spinning motion helps it shed excess water from the front window that could hamper performance Refer to the specifications page for operational and storage temperature ranges Shock and Vibration Be sure the unit is mounted securely to withstand vibration and shock without risk of detachment The unit does not need shock proofing The unit is designed to withstand standard automotive G forces 500 5 amplitude 11 msec duration shock and 3 Grms 5 Hz to 2000 Hz vibration Wiring The HDL 32E comes with an integral cable that is terminated at an interface box The cable is approximately 3 meters 10 in length The interface box provides connections for Ethernet power and GPS inputs Power The 2 1 mm barrel plug jack fits the AC DC power adapter included The center pin is positive polarity Note The HDL 32E does not have a power switch It spins and operates whenever power is applied Ethernet This standard RJ45 Ethernet connector is designed to connect to a standard PC Note The HDL 32E is only compatible with network cards that have either or AUTO MDIX capability GPS The GPS connector fits the GPS receiver included If you wish to wire
10. USER S MANUAL AND PROGRAMING GUIDE HDL 32E High Definition LiDAR Sensor _ Velodyne ai Velodyne 24 25 26 SAFETY NOTICES INTRODUCTION PRINCIPLES OF OPERATION SETUP USAGE External GPS Time Synchronization Packet Format and Status Byte for GPS Time Stamping Time Stamping Accuracy Rates Taser Timing Laser Firing Sequence T ROUBLESHOOTING SERVICE AND MAINTENANCE PECIFICATIONS 7 APPENDIX A Digital Sensor Recorder DSR APPENDIX B HDL 32E Sample Data Packets APPENDIX C Coordinate Calculation Algorithm Sample Code APPENDIX D Calibration and Orientation APPENDIX E Ethernet Transit Timing Table SAFETY NOTICES HDL 32E User s Manual English IMPORTANT SAFETY INSTRUCTIONS CAUTION RISK OF ELECTRIC SHOCK DO NOT OPEN Caution To reduce the risk of electric shock and to avoid violating the warranty do not open sensor body Refer servicing to qualified service personnel The lightning flash with arrowhead symbol is intended to alert the user to the presence of uninsulated dangerous voltage within the product s enclosure that may be of sufficient magnitude to constitute a risk of electric shock to persons The exclamation point symbol is intended to alert the user to the presence of important operating and maintenance servicing instructions in the literature accompanying the product Read Instructions safety and operating in
11. actors for the proper alignment of the point cloud information gathered for each laser When implemented properly the image viewable from the DSR is calibrated to provide an accurate visual representation of the environment in which the sensor is being used Also use these calibration factors and equations in any program using the data generated by the unit Note The HDL32E does not require additional calibration Live Playback For live playback first secure and power up the HDL 32E sensor so that it is spinning Connect the RJ45 Ethernet connector to your host computer s network connection You may wish to utilize auto DNS settings for your computers network configuration DSR desktop icon Open DSR from your desktop icon created during the installation Pull down the Options menu and select the proper input device Go to Options again and deselect the Show Ground Plane option Leave this feature off for the time being or until the ground plane has been properly adjusted You can now go to Options Properties to change the individual settings for each LASER channel if so desired REFRESH button QJ Provided that your computer is now receiving data packets click on the Refresh button to start live viewing of a point cloud The initial image is of a directly overhead perspective See page 15 for mouse and key commands used to manipulate the 3D image within the viewer Note The image can be manipulated in all directions
12. and become disorienting If you lose perspective simply press F1 to return to the original view Recording Data RECORD button 15 APPENDIX A HDL 32E User s Manual Once the input of streaming data has been confirmed through the live playback feature click on the Record button and the program will request 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 again to discontinue the capture One can string multiple recordings together on the same file by performing the Record function repeatedly A new file name will not be requested until after the session has been aborted g Note An Ethernet capture utility such as Wireshark can also be used as a pcap capture utility Playback of Recorded files Use the File Open command to open a previously captured pcap file for playback The DSR playback controls are similar to any DVD VCR control features PLAY button PAUSE button Press the Play button to render the file The Play button will alternate to Pause when in playback mode FORWARD button REVERSE button Use the Forward and Reverse buttons to change the direction of playback g Note The X Y Z and distance figures at the bottom of the image represent the distance of the x y z crosshairs with respect to the origin point indicated by the small white circle The concentric gray circles and grid lines represe
13. cle time There are 40 of these time periods per 32 firings with the dead time being used to recharge the lasers making the total time to fire all 32 lasers 46 08 psec There are 12 of these 32 laser firing groups per packet for a total packet time of 552 96 psec This totals to approximately 1808 packets per second or approximately 694 292 laser shots per second A table can be found in Appendix E showing timing for each laser shot based on these calculations 11 USAGE HDL 32E User s Manual 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 firings from the lower and upper banks of 16 lasers as follows Vertical angle mm o The interleaving firing pattern is designed to avoid potential ghosting caused primarily by retro reflectors Note Laser 9 from the top of the stack or DSR 15 is set at a 0 vertical angle This laser can be used as a reference to calibrate pitch and yaw of the sensor relative to the vehicle 12 TROUBLESHOOTING HDL 32E User s Manual Use this chart to troubleshoot common problems with the HDL 32E Unit doesn t spin Verify power connection and polarity Verify proper voltage should be between 9 and 32 volts drawing a minimum of one amp Inspect the fuse in the interface module Replace if necessary Unit spins but no data Verify Ethernet wiring V
14. e and intensity data is collected the same staggered order 0 16 1 17 14 30 15 31 as the laser is firing The data packet is then combined with status and header data in a UDP packet transmitted over Ethernet The firing data is assembled into the packets in the firing order with multi byte values transmitted least significant byte first The status data always contains a GPS 4 byte timestamp representing milliseconds from the top of the hour In addition the status data contains two reserved bytes not used at this time 18 APPENDIX B HDL 32E User s Manual User Datagram Protocol UDP Ethernet Data Packet Format HDL 32E Port 2368 42 Ethernet Header 7 Upper OxEEFF Lower OxDDFF 5 2 Laser Block ID 88 2 5 2 Rotational i 1200 Integer 0 35999 10 3 88 6515 E 8 NS nu 1206 Start identifier OXEEFF 5 5 g 3 2 mm increments 0 no return within 120 m 5 P 2 Distance Information 96 A 8 a 5 1 Intensity Integer 0 255 255 most intense return 2 mm increments 0 no return within 100 m Timestamp Bytes in reverse order usec 4 GPS Timestamp 6 1 Status Type a 1 Status Value Status Type Rotates Through Status Value Example GPS Status Values Hex ASCH String Description Hex ASC Hex AS
15. ee 2 1 Example Packet Exerpt Below 2 1 2 Accel1 Y Values only stored in 2 Gyro2 least significant 12 bits 2 Temp2 Refer to figure A1 for axis orientation 2 Accel2 X See below for how 2 Accel2 Y to interpret 2 2 Temp3 2 Accel3 X 2 Accel3 Y 160 Not used See GPS Timestamp Example Gyro Scale Factor 0 09766 deg sec SP timestamp from top ot hour below Temp Scale Factor 0 1453 25 4 Not Used Accel Scale Factor 0 001221G 72 NMEA sentence See NMEA Sentence Example Refer to table B C 234 Not used Example Packet Exerpt de Of 55 10 1b 23 09 30 GPS Timestamp Example Ox Ofde 34 34 X 0 09766 3 32deg sec 32 bit unsigned integer Ox 0055 85 85 X 0 1453 25 C 37 C 92 18 52 D6 Ox O31b 795 795 X 0 001221 0 97G 0 0009 9 9 X 0 001221 0 016 Reverse Order 06 52 1892 Convert to Decimal data index position 3595704466 usec not part of value or 3595 704466 sec Figure B3 21 APPENDIX B HDL 32E User s Manual Time Stamp Tc bd 9c 91 2442968444 919cbd7c hex usec 2442 9sec Time stamp from the head of the hour in usec NMEA Sentence GPRMC 214042 A 3708 3087 N 12139 5146W 000 0 000 0 160311 014 8 E A 0C GPRMC lt 1 gt lt 2 gt lt 3 gt lt 4 gt lt 5 gt lt 6 gt lt 7 gt lt 8 gt lt 9 gt lt 10 gt lt 11 gt lt 12 gt hh lt CR gt lt LF gt UTC time of position fix hhmmss format for GPS 18 PC LVC
16. erify packet output using another application e g EthereallWireshark Verify network settings Set a static IP address in network settings 192 168 3 255 Verify that no security software has been installed which may block Ethernet broadcasts SERVICE AND MAINTENANCE There are no user service or maintenance requirements or procedures for the Velodyne HDL 32E For service or maintenance please contact Velodyne at 1 408 465 2800 or log on to our website at www velodynelidar com 13 SPECIFICATIONS HDL 32E User s Manual Laser Class 1 eye safe 903 nm wavelength Time of flight distance measurement Measurement range 70 m 1 m to 70 m Max Altitude of Operation 2000m 32 laser detector pairs Sensor 10 67 to 30 67 degrees field of view vertical 360 degree field of view horizontal 10 Hz frame rate Operating temperature 10 C to 60 C Storage temperature 40 to 105 C Accuracy lt 2 cm one sigma at 25 m Angular resolution vertical 1 33 Angular resolution horizontal 0 16 at 600 rpm Power 12V 2 Amps Mechanical Operating voltage 9 32 VDC Weight 2 kg Shock 500 m sec2 amplitude 11 msec duration Vibration 5 Hz to 2000 Hz 3 Grms Environmental Protection IP67 Type 4 Approximately 700 000 points second 100 Mbps Ethernet connection Output UDP packets distance rotation angle Orientation internal MEMS accelerometers and gyros for
17. hese steps is described in detail below 1 Establish communication with the HDL 32E The HDL 32E outputs two separate broadcast UDP packets refer to page 16 in this manual By using a network monitoring tool such as Wireshark you can capture and observe the packets as they are generated by the unit HDL 32 MAC ID and IP address format Mac ID Each HDL 32E has a unique MAC address based on the serial number with the last four hex digits mapping to the serial number of the unit The following MAC ID shows serial number 4452 60 76 88 20 11 64 IP Address The Source IP address for the HDL 32E units maps to the last four digits in the Mac ID and hence the serial number In the above example the Source IP address would be represented by IP address 192 168 17 100 In this example the 11 and 64 are shown as decimal numbers for the purposes of expressing the IP address For all HDL 32E units the destination IP address remains fixed at 192 168 3 255 2 Create an internal calibration table from the included db xml data file This table must be built and stored internal to the point cloud processing software 7 USAGE HDL 32E User s Manual 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 for vert Correction is the vertical correction angle for each laser as viewed from the back of the unit and stated in degrees Positive values have the laser point
18. ing up and negative values have the laser pointing down The calibration table once assembled will contain 64 instances of the calibration values to interpret the packet data to calculate each point s position in 3D space Use only the first 32 instances 3 Parse the packets for rotation distance and intensity data Each HDL 32E packet has a 1206 byte payload consisting of 12 100 byte records followed by 6 bytes of GPS time stamp data The zero degree position is 90 degrees to the right of the interface cable when looking at the bottom Each 100 byte record contains first a start identifier then a two byte rotational value followed by 32 3 byte combinations that report on each laser fired Two bytes report distance to the nearest 2 cm and the remaining byte reports intensity on a scale of 0 255 There are 12 100 byte records For more on packet construction see Appendix B 4 Apply the calibration factors to the data Each of the HDL 32E s lasers is fixed with respect to vertical angle For each data point issued by the sensor vertical correction factors must be applied to determine the point s location in 3D space referred to by the return Note The minimum return distance for the HDL 32E is approximately 1 meter Ignore returns closer than this Note may be useful to timestamp the data so it can be referenced and coordinated with other sensor data later The HDL 32E has the capability to synchronize its data with GPS
19. nt 10 meter increments from the sensor Following is an example image of the calibration values as seen in DSR File Properties screen Values will be different than those on your CD p 2 ES TT Mas Dis Mende 45 Re ur 89 5 IL 6 5 n gt m m Ft E 1200002 comae 100000 E E n d d oome 5 HM a n mm m summe aem gt mes m 1100008 d 6 2 d 2 M Hn smen m summe me 65 9 1100002 d E n a A 6 6 6 am o mam warn une E m u 69 9 comae E n 0 7 n ramen me 8E m iamm n 1 000008 1200000 10000 46665 2 d d d oome d irem o n mm me m vmm mm n D m me me o ao 65 89 50 9 d 1000000 46665 6 z
20. precision time Note There are no user service or maintenance procedures for the Velodyne HDL 32E Velodyne does offer a preventative maintenance service for a fee For service or maintenance please contact Velodyne at 1 408 465 2800 or log on to our website at www velodynelidar com 8 USAGE HDL 32E User s Manual External GPS Time Synchronization The HDL 32E can synchronize its data with precision GPS supplied time pulses to enable users to ascertain the exact firing time of each laser in any particular packet This capability requires a GPS receiver generating a sync pulse and the SGPRMC NMEA record over a dedicated RS 232 serial port The output from the GPS receiver is connected to the HDL 32E via the user interface box The customer can use the GPS receiver supplied with the HDL 32E or the customer can adapt their GPS receiver to provide the required sync pulse and NMEA record GPS Receiver Option 1 Velodyne Supplied GPS Receiver A GPS receiver that is pre programmed by Velodyne is provided to HDL 32E users This receiver is pre wired with a connector that plugs into the HDL 32E interface box and pre programmed to output the correct GPS record and sync pulse GPS Receiver Option 2 Customer s GPS Receiver Under this option the customer must configure their GPS device to issue a once a second synchronization pulse typically output over a dedicated wire and issue a once a second GPRMC NMEA record No other output can be accepted
21. r day under this method This date and time data is reflected in the H M S D N and Y data values Also note that the HDL 32E clock does not correct for leap years 2 When the GPS is connected the NMEA record is reported in the second data packet as described in Appendix B GPS time synching runs in one of two modes a The GPS has an internal clock that runs for several weeks that will be used first The accuracy is as good as the GPS device employed b When the GPS achieves lock the HDL 32E clock will then be within 50ps of the correct time at all times 3 If the GPS is then disconnected the HDL 32E will continue to run on its own clock and be subject to a drift of approximately 5 seconds per day Laser Timing If the GPS timestamp feature is employed it may be useful to determine the exact firing time for each laser so as to properly time align the HDL 32E point cloud with other data sources The Ethernet packet is assembled in real time therefore the encoder angle is associated with the first laser shot in each collection of 32 laser shots while the time stamp is reported in the last 6 bytes of the packet relates to the last shot of the last group in the entire sequence of 12 records The time stamp is synchronized to the leading edge of the GPS signal as provided by the Garmin GPS 18LV GPS receiver or the user s GPS receiver programmed as described on page 7 Lasers are fired on a clock running at 1 152 psec cy
22. ry to be within 1 2 of their true position at 100 feet Therefore no calibration of either the deflection horizontal or rotational angle is necessary both the horizontal angle and rotational laser angles are always zero The vertical angle of each laser is described in the XML file supplied with each unit and as listed above This is the only calibration parameter necessary to plot points in 3D space so for the HDL 32E all db xml calibration files are identical and contain only the vertical angle values as listed above Laser Spot Size The lasers project a well defined rectangular shaped spot that is approximately 4 wide by 2 tall at 100 distance The spot size at the source of the HDL 32 is approximately 1 2 wide by 1 4 tall causing the angular divergence to be 2 79 milliradians Distance Calibration Distance calibration parameters are programmed into the HDL 32E firmware no external adjustment for distance is needed The HDL 32E uses 1023 1024 300 000 000 meters sec as the reference speed of light However as the true speed is affected by local atmospheric conditions the unit uses a closed loop timing compensation scheme that calibrates each laser continuously and is the primary compensation for thermally induced timing corrections 25 5 Manu HDL 32E User APPENDIX E ETHERNET TRANSIT TIMINGTABLE 551 480 8097 OOLM SHO 265 2 5 5 19280 jo pua
23. six axis motion correction external correction GPS time synchronized with included GPS receiver Dimensions Unit 5 68 x Height Diameter 3 36 149 86mm x 85 3mm Sensor Weight 29 5 1 3 Kg Shipping Weight 14 35 Ibs 6 5 Kg approx Wavelength 903nm min max range is 896 910 nm Pulse Duration 6ns duration Repetition Rate 1 44 us 32 lasers per pattern for period of 46 1 us 21 7KHz repetition Maximum Power 31 4 Watt 0 19 uJ Energy Output 14 SPECIFICATIONS HDL 32E User s Manual Digital Sensor Recorder DSR DSR is a windows based 3D point cloud visualization software program designed for use with the HDL 32E This software is an out of the box tool for the rendering and recording of point cloud data from the HDL unit You can develop visualization software using the DSR as a reference platform A code snippet is provided on the CD to aid in understanding the methods at which DSR parses the data points generated by the HDL sensor Install To install the DSR on your computer 1 Locate the DSR executable program on the provided CD 2 Double click on this DSR executable file to begin the installation onto the host computer We recommend that you use of the default settings during the installation Note Refer to the Read file on the supplied CD for Windows Vista and Windows 7 installations Calibrate The db xml file provided with the HDL unit contains correction f
24. structions should be read before the product is operated Retain Instructions The safety and operating instructions should be retained for future reference Heed Warnings All warnings on the product and in the operating instructions should be adhered to Follow Instructions All operating and use instructions should be followed Servicing The user should not attempt to service the product beyond what is described in the operating instructions All other servicing should be referred to Velodyne E HDL 32bE 345 Digital Drive Velodyne LIDAR Ine Morgan Hill CA 95037 Complies with 21 CFR 1040 10 and 1040 11 1 except for doviatons pursuant to Laser Notice No 50 dated 24 June 2007 Complies with IEC 60825 1 2014 Complies with 21 CFR 1040 10 and 1040 11 except for deviations pursuant to Laser Notice No 50 dated June 24 2007 Compliances with UL50 50E and CSA C22 NO 94 2 07 NEMA Type 4 Enclosure warnine caution A RISK OF DAMAGE OR FAILURE Use of controls or DO NOT DIRECT LASERS TOWARD adjustments or performance ONE ANOTHER of procedures other than those specified herein may result in hazardous radiation exposure 1 SAFETY NOTICES HDL 32E User s Manual French CONSIGNES DE S CURIT INPORTANT RISQUE DE CHOC LECTRIQUE NE PAS OUVRIR VASE Attention Pour r duire le risque de choc lectrique et pour viter de violer la garantie ne pas le corps de capteur ouvert Confie
25. t xyDistance distance cosVertAngle II Convert to X Y plane coords idx setX xyDistance sinRotAngle pos getX IVLS DIM SCALE II Calculate X coordinate coords idx setY xyDistance cosRotAngle pos getY IVLS DIM SCALE II Calculate Y coordinate IICalculate Z coordinate coords idx setZ distance sinVertAngle pos getZ IVLS DIM SCALE 24 APPENDIX D CALIBRATION AND ORIENTATION HDL 32E User s Manual 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 with rotational horizontal and vertical angles X Y Z Both x and y offsets are zero and are calculated from the centerline of the device The Z location of the firing should be considered to be the distance from the bottom of the base plane to the center of the lenses or 3 575 inches 9 0805 cm p 3 575 Figure D 1 D sal The device isn t calibrated at the factory for angular accuracy The angular precision is 1 100 of a degree and the device should repeat to this level of accuracy There are provisions for a pair of dowel pins to be located in the mating fixture and this will provide repeatability in case the device is removed and remounted The reason for this is that the device needs to be calibrated in situ to whatever defines either the x or y axis of the vehicle The HDL 32E s laser spots are aligned at the facto
26. tion and wiring addresses output packet construction and interpretation along with GPS installation notes This manual is undergoing constant revision and improvement check www velodynelidar com for updates 3 PRINCIPLES OF OPERATION HDL 32E User s Manual 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 waveform analysis provide high accuracy extended distance sensing and intensity data The HDL 32E uses a direct drive motor system employing no belts or chains in the drive train to improve reliability and reduce maintenance The unit provides A 360 horizontal field of view FOV 41 3 vertical FOV Usable returns up to 70 meters Spinning Lidar Sensor Uncalibrated Point Cloud Data Packets Calibrated Point Cloud Data as 30 Image Digital Sensor Recorderand Viewer Software XML Laser Calibration File Figure 1 Overview of the LIDAR HDL 32E 3D Imaging System 4 SETUP HDL 32E User s Manual This section describes the standard set up assuming you are connecting the sensor to a standard computer or laptop and mounting the sensor on a vehicle For other connections and mounting locations
27. your own GPS receiver refer to the labeled connector within the interface box Cable The cable is permanently attached at the sensor but the interface box may be removed for ease of cable routing direct wiring and or inserting in line connector s 6 SETUP HDL 32E User s Manual 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 use Digital Sensor Recorder DSR the viewer software included with the unit DSR reads in the packets from the HDL 32E over Ethernet performs the necessary calculations to determine point locations then plots the points in 3D on the viewer s PC If you have never used the HDL 32E before this is the recommended starting point For more on installing and using DSR see Appendix A You can observe both distance and intensity data through DSR Most users however will elect to create their own application specific point cloud tracking and plotting and or storage scheme There are several fundamental steps to this process 1 Establish communication with the HDL 32E 2 Create a calibration table from the included db xml data file 3 Parse the packets for rotation distance and intensity data 4 Apply the vertical angle calibration factors to the data 5 Plot or store the data as needed Each of t
28. z l entretien du personnel qualifi L clair avec le symbole fl che est destin alerter l utilisateur de la pr sence d une tension dangereuse dans l enceinte du produit qui peut tre d une ampleur suffisante pour constituer un risque d lectrocution pour les personnes Le symbole du point d exclamation est destin alerter l utilisateur de la pr sence d exploitation et de maintenance entretien dans la documentation accompagnant le Lisez les instructions de s curit Tous et instructions de fonctionnement doivent tre lues avant d utiliser le produit Conservez les instructions Les instructions de s curit et de fonctionnement doivent tre conserv es pour r f rence ult rieure Tenez compte de mises en garde les avertissements sur le produit et dans les instructions de fonctionnement doivent tre respect s Suivez les instructions Tous les instructions de fonctionnement et d utilisation doivent tre de Entretien L utilisateur ne doit pas tenter de r parer le produit au del de ce qui est d crit dans les instructions de fonctionnement Toutes les autres r parations doivent confi es Velodyne ADVERTISSEMENT 2 INTRODUCTION HDL 32E User s Manual 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 installa
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