GeoSlam ZEB UAV MOUNT User manual

DJI Matrice 300 Series UAV
Installation and User Guide

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Notes
The software and hardware described in this manual is furnished under licence and may only
be used or copied in accordance with the terms of the licence.
Copyright © GeoSLAM Ltd. 2022
Revision: 1.1
Release date: November 2022
All rights are reserved. No part of this publication or the components it describes may be
reproduced, stored in a retrieval system, or transmitted, in any form, or by any means,
electronic, mechanical, photocopying, recording, or otherwise, without prior written consent
from GeoSLAM Ltd.
GeoSLAM Ltd. provides this manual “as is,” without warranty of any kind and reserves the
right to make improvements and/or changes to the product described in this manual at any
time and without notice.
GeoSLAM Ltd. equipment should not be used as a primary navigation device.
CLASS A COMPUTING DEVICE. This equipment has been tested and found to comply
with the limits for a Class A digital device, pursuant to part 15 of the FCC Rules. These
limits are designed to provide reasonable protection against harmful interference when the
equipment is operated in a commercial environment. This equipment generates, uses, and
can radiate radio frequency energy and, if not installed and used in accordance with the
instruction manual, may cause harmful interference to radio communications. Operation of
this equipment in a residential area may cause interference.
SOFTWARE IS PROVIDED AS IS. To the maximum extent permitted by law, the
manufacturer (GeoSLAM Ltd.) and its suppliers disclaim all warranties, either express or
implied, including, but not limited to implied warranties of merchantability and fitness for a
particular purpose, with regard to the SOFTWARE, the accompanying written materials, and
any accompanying hardware. You may have other rights which vary from country to country.
NO LIABILITY FOR CONSEQUENTIAL DAMAGES. To the maximum extent permitted by
applicable law, in no event shall the company or its suppliers be liable for any damages
whatsoever (including without limitation, direct or indirect damages for personal injury, loss of
business profits, business interruption, loss of business information, or any other pecuniary
loss) arising out of the use of this product, even if the company has been advised of the
possibility of such damages. In any case, the company’s and its suppliers’ entire liability shall
be limited to the amount actually paid by the owner of the product for the product. Because
some states/jurisdictions do not allow the exclusion or limitation of liability for consequential
or incidental damages, the above limitation may not apply to the user.

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Contents
1. Overview 3
2. List of Parts 4
3. Installation 5
4. Pre-Operation 12
5. Operation 13
5.1. Data Collection 13
5.2. Shut Down Procedure 14
5.3. LED Status Table 15
5.4. LED Error Table 15
6. Data Management 16
7. Tips and Best Practices 18
7.1. Flight Patterns 18
7.2. Methods of UAV flight 20
7.3. SLAM features 21
8. Troubleshooting and Maintenance 22

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1. Overview
This guide provides the information required to install the ZEB Horizon laser scanning system
onto a DJI Matrice 300 series UAV using Horizon UAV Data Logger Assembly.
The installation requires the DJI Matrice 300 RTK OSDK Expansion Module, available from
the DJI web store. This item is not available for purchase from GeoSLAM.
For detailed information on the ZEB Horizon scanner, please refer to the ZEB Horizon User
Guide.

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2. List of Parts
Item No.
Description
1
GS_610280 1
Horizon UAV Data Logger Assembly
2
GS_310161
Ethernet cable
3
GS_610288
XT30 power cable
4
GS_610289
XT30 desk top power supply
5
MOU_709_ACPLUG_MIX2
Power supply country adaptor kit
6
RS_179-2893
2 x Cable guides
7
Accessories cox containing 2.5 mm hex key
8
4 x M3 x 12mm cap screws and M4 Washers

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3. Installation
Step 1. Turn the M300 “upside down” using a protective mat as shown below. Detach the
DJI Gimbal Mount from the bottom of the UAV leaving the four posts which connect to the
body of the UAV in place. To do this, remove the four M3 screws marked 1-4 in the images
below. Keep these screws to one side, as they are not required for the mounting of the ZEB
Horizon.
Step 2. Remove the USB power connector by removing the two small Phillips screws.

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Step 3. Fit the anti-dust cover supplied with the Matrice 300 using the screws removed in the
previous step.
Step 4. Connect the ZEB Horizon scanner to the DL mounting plate using the four captive
screws. Tighten with the 2.5mm hex key.

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Step 5. Mount the ZEB Horizon assembly to the bottom of the UAV using the four M3 x 12mm
cap screws andwashers. Mount the washersbetween the cap screws and the rubber grommet
of the damper. Tighten with the 2.5mm hex key. The Horizon scanner must face the front of
the M300 (the end from which the Gimbal Mount was removed) to avoid interference from the
infrared sensor on the M300.

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Step 6. Connect the grey ZEB Horizon data cable to the 12-pin socket on the scan head.
Step 7.Place theM300 back into the upright position. Mount theOSDK expansion kit following
the instructions in the manual provided with the kit by DJI.

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Step 8. Connect one end of the power cable to the OSDK socket and the other end to the
ZEB Horizon data logger socket as shown below

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Step 9. Use the supplied cable guide to route the power cable along the edge of the M300.

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4. Pre-Operation
The ZEB Horizon blocks the downward IR sensors on the M300. The sensor must be
disabled in the health management menu as shown below.
Some users have reported that health management reports sensor errors with the downward
sensors, even after disabling the downward sensors.
If the health management is reporting this issue, the IR sensors, highlighted in red have
likely not been turned off within the M300 software. They will need to be blocked so they do
not hit the datalogger, we recommend using an opaque tape to cover them.

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5. Operation
5.1. Data Collection
When you are ready to start collecting data follow the steps in the table below.
Step 1
Power-on the M300 and perform the standard safety checks ready for take-off. Do not start
the propellor motors.
Power-on the Horizon system by pressing the Power button on the data logger
Data Logger LED
ScanheadLED
array
STATUS
DATA
Step 2
Data logger booting up.
-
-
Step 3
Connecting to scan head.
-
Step 4
Standby mode
-
Step 5
Initiate new scan
Longpress the function buttonon the scan head
untiltheSTATUSLEDandscan LEDarrayturnsolid
redtoinitiatea newscan
Step 6
Initialisation mode
The scan head must remain stationaryforaperiodof
15seconds. Ifthescanheadisdisturbedduring
initialisationthe system will revert to standbymode(Step
4)
-
Step 7
Scanning mode
Afterthe15secondinitialisation,the STATUSLEDand
scanheadLEDarray will light green andthe scan
head will start rotating.
Start the motors on the M300
-
Step 8
End scan - Data formatting
To end the scan, land the M300 and stop the
motors. When it is safe to do so, long press the
function button on the scannerheaduntil thescan
headstopsrotating.
TheDATALEDwilllightorangewhile the scan data is
converted tothe required outputformat
Step 9
Standby mode
From stand‐by either initiateanewscan(step5),
Downloadthedatafromthelatest scans(Section6),
or
Shut down (Section 5.2)
-
󱛻󱛼󱛽The scanner must remain static during initialisation

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5.2. Shut Down Procedure
To shut the ZEB Horizon data logger down long press the power button until two beeps are
emitted. The STATUS and DATA LEDs on the data logger will alternate RED until the system
powersdown.
󱛻󱛼󱛽Do not turn the data logger off until the DATA LED is off

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5.3. LED Status Table
5.4. LED Error Table
STATUS LEDon data
logger
LED array on scan head
Description
BLUE flash
‐
‐
Data logger booting
BLUE
BLUE
Connecting to scan head
RED pulse
REDLEDstrobing
fromlefttoright
Scanner is in standby mode
RED
RED
Scannerabouttoenterinitiationmode
ORANGE flash
ORANGE flash
The scanner is in initiation mode
GREEN
GREEN
The scanner is scanning mode
DATA LEDondatalogger
ORANGE
‐
‐
Scan data is being formatted
󱛻󱛼󱛽Do not turn the data logger off
STATUS LED ondata
logger
LED array on scan head
Description
Single
RED flash
Single
RED flash
Laser sensor not detected
Double RED flash
Double RED flash
IMU sensor not detected
Triple RED flash
Triple RED flash
Laser and IMU sensors not detected
ORANGE
ORANGE
Data loggerturnedoffduring data
formatting
Shut down paused until data formatting
is complete

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6. Data Management
The collected datasets can be downloaded to a PC using WindowsTM File Explorer by
connecting an ethernet cable between the PC and the data logger.
The data logger is set to Local Link IP address 169.254.0.205 which enables connection to a
WindowsTM PC set to default Ethernet setting - DHCP “Obtain IP address automatically”
without the need to configure the IP settings.
To check the Ethernet settings on a WindowsTM PC go to:
Control Panel>Network and Internet>Network Connections
Right click on the ethernet adapter to be checked and select:
Properties>Internet Protocol Version 4 (TCP/IPv4)
Select the Obtain the IP address automatically option button if not already set and click OK
to close the Network Properties dialogue boxes.
Connect an ethernet cable between the data logger and the web enabled device and power
the data logger ON.

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Open an instance of WindowsTM File Explorer and enter the address \\gs-data logger. The root
directory of the data logger is displayed.
Open the data folder and select the datasets (.geoslam files) you wish to download and copy
them to the required folder on the PC.
Datasets can be deleted from the data folder using the File Delete function in WindowsTM File
Explorer.
󱛺Please note: When removing datasets from the data folder on the data logger using
WindowsTM File Explorer, the data is permanently deleted from the data logger and cannot be
retrieved.

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7. Tips and Best Practices
Before flying operations and between every flight:
Check the propellers are free to rotate
Check all fittings are tightly secured
Check that the cable connectors are secured
Ensure the centre of gravity check is within the specified limits
7.1. Flight Patterns
For the best point cloud accuracy, the flight patterns should incorporate horizontal “loops”
similar to the operation of the handheld unit on the ground.

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Round Flight Pattern
Round flight pattern can be used to fly around the single structures like house or towers. This
way, the facades can be capture fromthe UAV and the loop can be closed vertically.
Grid Flight Pattern
Grid pattern is suitable for covering large areas, using automated missions. This way, speed
and altitude can be better controlled for an increased point density.
Tip: when creating automated missions, use course aligned flight with smoothed curves for
each waypoint. It is also advisable to take off and land manually as the automated vertical
speed can be fast for any smooth results.