Resumen del contenido incluido en la página 1
U S E R ’ S M A N U A L A N D
P R O G R A M M I N G G U I D E
HDL-32E
™
High Definition LiDAR Sensor
Resumen del contenido incluido en la página 2
i S A F E T Y N O T I C E S 1 I N T R O D U C T I O N 2 P R I N C I P L E S O F O P E R A T I O N 3 S E T U P 5 U S A G E External GPS Time Synchronization 7 Packet Format and Status Byte 9 for GPS Time Stamping 9 Time Stamping Accuracy Rates 9 Laser Timing 10 Laser Firing Sequence 11 T R O U B L E S H O O T I N G 11 S E R V I C E A N D M A I N T E N A N C E 12 S P E C I F I C A T I O N S 13 A P P E N D I X A : Digital Sensor Recorder (DSR) 16 A P P E N D I X B : HDL-32E Sample Data Packets 22
Resumen del contenido incluido en la página 3
caut io n — s afe t y no t ice 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 presenc
Resumen del contenido incluido en la página 4
HDL-32E User’s Manual int ro duct io n Congratulations on your purchase of a Velodyne HDL- 32E High Definition LiDAR Sensor. This sensor provides state-of-the-art 3D imaging. This manual describes how to set up and operate the HDL-32E, covers installation and wiring, addresses output packet construction and interpretation, along with GPS installation notes. This manual is undergoing constant revision and improvement – check www.velodynelidar.com for updates. [ 1 ]
Resumen del contenido incluido en la página 5
HDL-32E User’s Manual PrinciPLe s o f o Pe rat io n Principles of Operation The HDL-32E creates 360° 3D images by using 32 laser/detector pairs whose housing rapidly spins to scan the surrounding environment. This design allows for the lasers to each fire thousands of times per second, providing a rich, 3D point cloud. Digital signal processing and waveform analysis provide high accuracy, extended distance sensing and intensity data. The HDL-32E uses a direct drive motor system, employing no be
Resumen del contenido incluido en la página 6
s e t uP 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, 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 outpu
Resumen del contenido incluido en la página 7
s e t uP 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 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, rai
Resumen del contenido incluido en la página 8
HDL-32E User’s Manual us aGe 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 locat
Resumen del contenido incluido en la página 9
us aGe 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 vertCorrection 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 pointing 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 p
Resumen del contenido incluido en la página 10
us aGe HDL-32E User’s Manual External GPS Time Synchronization The HDL-3 2E 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 $GPRMC NMEA record over a dedicated RS-232 serial port. The output from the GPS receiver is connected to the HDL- 32E. The customer can use the GPS receiver supplied with the HDL-32E or the custo
Resumen del contenido incluido en la página 11
us aGe 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 Garmin GPS-18LV GPS Receiver Power Adapter Interface Box GPS Interface Box Front & Back View Interface Box Interface Box Top View Front View [ 8 ]
Resumen del contenido incluido en la página 12
us aGe 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.
Resumen del contenido incluido en la página 13
us aGe 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: Firing order DSR # Vertical angle 1 0 -30.67 21 -9.33 32 -29.33 43 -8.00 54 -28.00 65 -6.66 76 -26.66 87 -5.33 98 -25.33 10 9 -4.00 11 10 -24.00 12 11 -2.67 13 12 -22.67 14 13 -1.33 15 14 -21.33 16 15 0.00 17 16 -20.00 18 17 1.33 19 18 -18.67
Resumen del contenido incluido en la página 14
HDL-32E User’s Manual t ro uBLe s Ho o t inG Use this chart to troubleshoot common problems with the HDL-32E. Problem Resolution Unit doesn’t spin Verify power connection and polarity.
Resumen del contenido incluido en la página 15
HDL-32E User’s Manual s Pe cificat io ns Laser: • Class 1 - eye safe • 905 nm wavelength • Time of flight distance measurement with intensity • Measurement range 100 m (5 cm to 100 m) • 32 laser/detector pairs • +10.67 to -30.67 degrees field of view (vertical) Sensor: • 360 degree field of view (horizontal) • 10 Hz frame rate • Operating temperature -10° C to +60° C • Storage temperature - 40 to 105 C • Accuracy: <2 cm (one sigma at 25 m) • Angular resolution (vertical) 1.33 degrees • P
Resumen del contenido incluido en la página 16
HDL-32E User’s Manual aPPe ndix a: diGit aL s e ns o r re co rde r (ds r) Digital Sensor Recorder (DSR) DSR is a windows-based 3D point cloud visualization software program designed for use with the HDL-3 2E. 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 d
Resumen del contenido incluido en la página 17
aPPe ndix 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 no
Resumen del contenido incluido en la página 18
aPPe ndix a HDL-32E User’s Manual 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,Y,P,R,F,B,L,H,U,D) Direction = Fine Movement Alt, (Z,Y,P,R,F,B,L,H,U,D) Direction = Very Fine Movement DSR Mouse Controls Rotational: Left Butt
Resumen del contenido incluido en la página 19
HDL-32E User’s Manual aPPe ndix B: HdL-32e s aMPLe dat a PacKe t s Data Packet Format The HDL-32E outputs two UDP Ethernet packets — a data packet containing laser firing data located on Port 2368 and a positioning 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 distance and
Resumen del contenido incluido en la página 20
aPPe ndix B HDL-32E User’s Manual User Datagram Protocol (UDP) Ethernet Data Packet Format: HDL-32E (Port 2368) Start identifier OxEEFF 2 mm increments (0 = no return within 100 m) Blank Blank Figure B1. [ 17 ]
