GeoSlam ZEB-HORIZON User manual

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ZEB‐HORIZON User Manual v1.2
Copyright
ZEB‐HORIZON™ User’s Manual © 2019 GeoSLAM Ltd. All rights reserved.
ZEB-HORIZON
User Manual

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CONTENTS
Introduction .....................................................................................................3
1.1 Specification.......................................................................................................................... 3
1.2 Principal of operation ............................................................................................................... 3
1.3 List of parts ........................................................................................................................... 4
Safety .............................................................................................................5
2.1 General safety ........................................................................................................................ 5
2.2 Laser Safety........................................................................................................................... 5
2.3 Electromagnetic compatibility ..................................................................................................... 5
2.4 Battery safety ........................................................................................................................ 5
2.5 System Disposal ...................................................................................................................... 5
2.6 Installation............................................................................................................................ 6
2.7 Further help and information ....................................................................................................... 6
Data capture .....................................................................................................7
3.1 Connecting the hardware ........................................................................................................... 7
3.2 Collecting data ....................................................................................................................... 7
3.3 Downloading the raw scan data..................................................................................................... 8
3.4 File naming ........................................................................................................................... 9
3.5 Shutting down ........................................................................................................................ 9
Usage Guidelines.............................................................................................. 11
4.1 The environment .................................................................................................................... 11
4.2 Loop closure ......................................................................................................................... 11
4.3 Transitioning between environments............................................................................................. 11
4.4 Walking speed ....................................................................................................................... 12
4.5 Minimum and maximum range ..................................................................................................... 12
4.6 Duration of scanning ................................................................................................................ 12
4.7 Survey areas with restricted or difficult access.................................................................................. 12
4.8 Moving objects in the environment ............................................................................................... 12
Data Processing ............................................................................................... 13
5.1 GeoSLAM Hub Software............................................................................................................. 13
Battery.......................................................................................................... 15
6.1 Specification......................................................................................................................... 15
6.2 Recharging ........................................................................................................................... 15
6.3 Capacity and run‐time display ..................................................................................................... 15
6.4 Battery care ......................................................................................................................... 16
6.5 Transportation ...................................................................................................................... 16
APPENDICES.................................................................................................... 18
7.1 Appendix 1 ‐ USB Prepare tool ..................................................................................................... 18
7.2 Appendix 2 – Dimensional drawings .............................................................................................19

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1 INTRODUCTION
The ZEB‐HORIZON provides a rapid and simple means of capturing 3D point cloud data. Data is captured as the
user walks through the area of interest. The ZEB‐HORIZON negates the need for time consuming scanner set‐ups
and data registration associated with traditional terrestrial laser scanning methods.
Provided the simple guidelines set out in this manual are adhered to, accurate 3D point clouds can be generated
in a fraction of the time taken with traditional terrestrial laser scanning methods.
Maximum range
100m
Points per scan line
937 (0.38ointerval)
Field of view
360ox 270o
Scan rate
300,000 points/s
160 lines/s (16 lines @ 10Hz)
Scan range noise
±30mm
Laser safety
classification
Class 1 Eye‐safe per IEC 60825‐1:2007 & 2014
Laser wavelength
903nm
Operating
temperature
0oC to +50oC
Ingress protection
IP54
Power supply
14.8VDC ~ 1.5A
Weight
Scanning head with handle 1.49kg
Datalogger 0.72kg
Battery 0.55kg
Carry case and contents 4.2kg
Dimensions
Scanning head 216x108x266mm (153mm excl handle)
Carry case and contents 470x220x180mm
Battery life
Approximately 3 hours continuous use
Table 1-1: Specification
1.2 PRINCIPAL OF OPERATION
The ZEB‐HORIZON consists of a 2D time‐of‐flight laser range scanner rigidly coupled to an inertial measurement
unit (IMU) mounted on a motor drive. The motion of the scanning head on the motor drive provides the third
dimension required to generate 3D information. A novel 3D simultaneous localization and mapping (SLAM)
algorithmisusedtocombine the 2Dlaserscandatawith the IMUdatato generateaccurate 3D pointclouds.
The ZEB‐HORIZON captures raw laser range measurement and inertial data. This data must be processed using
GeoSLAM’s SLAM algorithm to convert the raw data into a 3D point cloud. The data is processed using the
GeoSLAM Hub processing application.
1.1 SPECIFICATION

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Partno. Description
1 GS_610090
ZEB‐HORIZON hand held laser scanner
2 GS_610096
ZEB‐HORIZON data logger
3 GS_610098
ZEB‐HORIZON main cable
4 GS_USB
USB memory stick
5 PAG_
Battery charger and power supply unit
6 MUS_
Data logger shoulder strap
7 SWA_138576
Backpack
Table 1-2: List of parts
Figure 1-1
1.3 LIST OF PARTS

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2 SAFETY
The ZEB‐HORIZON should only be used by trained operators. Always follow basic safety precautions when
operating the ZEB‐HORIZON to reduce the risk of personal injury and to prevent damage to the equipment. Do
notoperate theequipmentwithsuspected defects orobvious mechanicaldamage.Please referallservicingof the
equipment to qualified service personnel. Only use the components and accessories supplied with your system or
other accessories recommended by GeoSLAM Ltd. Before operating the system for the first time please read this
manual in full.
The equipment contains sensitive electricaland mechanical parts and thusrequires appropriate handling. Donot
bendorpullthe cablesforcibly. Neverpush objectsof anykindintotheconnectorsorsockets.Keep the equipment
outof the reach of children. Under no circumstances should any modifications be made to the ZEB‐HORIZON
without prior written permission from GeoSLAM Ltd.
The ZEB‐HORIZON incorporates a Velodyne Puck VLP‐16 laser scanner. The VLP‐16 is
classified as a CLASS 1 Laser Product in accordance with IEC 60825‐1:2007 & 2014.
Equipment classification and requirements. Class 1 Laser Products are safe under
reasonably foreseeable conditions of operation, including the use of optical
instruments for intra‐beam viewing.
The ZEB‐HORIZON meets or exceeds the following standards:
EN61326‐1:2013 Electrical equipment for measurement, control and laboratory use ‐ EMC requirements ‐
Industrial Location Immunity ‐ (immunity section only)
EN61326‐1:2013 Electrical equipment for measurement, control and laboratory use ‐ EMC requirements ‐ Group
1, Class A equipment ‐ (emissions section only)
CFR 47 Code of Federal Regulations: Pt 15 Subpart B‐ Radio Frequency Devices ‐ Class A Unintentional Radiators
This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to part
15oftheFCCRules.These limitsaredesignedtoprovidereasonableprotectionagainstharmfulinterferencewhen
the equipment is operated in a commercial environment. This equipment generates, uses and can radiate radio
frequency energy. If not installed and used in accordance with the instruction manual this may cause harmful
interference to radiocommunications. Operationofthis equipmentina residential area may causeinterference.
DO NOTattemptto dismantle the battery.
DO NOT short circuit the battery.
ONLY use the charger supplied with the system.
Excess heat will degrade the battery rapidly. Always store the battery in a cool dry place. DO NOT leave for long
periods in the sun or in a hot vehicle.
The battery is splash proof but not water proof
– do not immerse in water.
When the ZEB‐HORIZON reaches the end of its life‐cycle please dispose of the equipment in
accordance with Directive 2002/96/EC on Waste Electrical and Electronic equipment (WEEE).
GeoSLAM Ltd is prepared to take back the waste equipment and accessories free of charge at the
manufacturing unit in Ruddington, UK for proper treatment with the objectives of the WEEE.
2.3 ELECTROMAGNETIC COMPATABILITY
2.1 GENERAL SAFETY
2.2 LASER SAFETY
2.4 BATTERY SAFETY
2.5 SYSTEM DISPOSAL

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The ZEB‐HORIZON can be used as a handheld device using the supplied removable handle or can be mounted to
mobile platform using threaded mounting points (see Section 7.2) or the optional mounting plate.
Contact GeoSLAM by any of the following methods:
Phone: [phone]
Email: [e-mail] [e-mail]
Website: www.geoslam.com
2.6 INSTALLATION
2.7 FURTHER HELP AND INFORMATION

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3 DATA CAPTURE
This chapter describes how to connect the ZEB‐HORIZON hardware, how to collectraw scan data and how to
download the raw scan data from the data logger.
Connect the ZEB‐HORIZON main cable to the socket on the side of ZEB‐HORIZON scanner head.
Connect the other end of the ZEB‐HORIZON cable to the REVO (orange) socket on the ZEB‐HORIZON data logger.
DONOTattempttoconnecttheZEB‐HORIZONcable (16pin)totheAUXsocket (14 pin‐with bluemarker).
The process of collecting data using the ZEB‐HORIZON scanning system is highly automated. However, care must
be taken to ensure that the collected data can be successfully processed into a 3D point cloud using GeoSLAM’s
unique SLAM algorithm. It is strongly recommended that the user conducts a survey plan, considering the
recommendations set out in the Usage Guidelines in chapter 4, before commencing data collection.
When you are ready to start collecting data follow the steps in the table below:
Step 1
Connecting the hardware:
Ensure battery is charged and connected to data logger. Connect the ZEB‐
HORIZON main cable to the socket on the side of ZEB‐HORIZON scanner head.
Connect the other end of the ZEB‐HORIZON cable to the REVO (orange) socket
on the ZEB‐HORIZON data logger. Position the ZEB‐HORIZON scanner on a flat
stationary surface. Ensure the scan head is free to rotate. Turn on the ZEB‐
HORIZON data logger by pressing the on/off button.
Data Logger LED
Scan head LED array
REVO
DATA
Step 2
Data logger booting up.
-
-
Step 3
Connecting to scan head.
-
Step 4
Standby mode
-
Step 5
Initiate new scan
Long press the function button on
either the scan head or the data
logger until the REVO LED and scan
LED array light solid red to initiate a
new scan
-
Step 6
Initialization mode
The scan head must remain
stationaryfora period of 15 seconds.
If the scan head is disturbed during
initialisation the system will revert to
standby mode (Step 4)
-
Step 7
Scanning mode
After the 15 second initialization, the
REVO LED and scan head LED array
will light green and the scan head
will start rotating. Pick up the
scanner and conduct the scan.
-
3.1 CONNECTING THE HARDWARE
3.2 COLLECTING DATA

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Step 8
End scan - Data formatting
To end the scan, long press the
function button on either the
scanner head or the data loggeruntil
the scan head stops rotating.
The DATA LED will light orange while
the scan data is converted to the
required outputformat
Step 9
Standby mode
From stand‐by either
Initiate a newscan(Step 5),
Download the data from the latest
scans (section 3.3), or
Shut down (section 3.5)
-
! The scanner must remain static during initialisation
During data capture the data logger can either be carried in your spare hand, carried on your side using the
supplied shoulder strap or placed in the backpack carry case. If the backpack is used the data logger should be
orientated as shown in Figure 3‐1
Figure 3-1
To download the raw scan data, power on the ZEB‐HORIZON data logger if not already powered on. Connect the
supplied USB memory USB socket on the data logger front panel. The AUX LED light will light green whilst the data
istransferring to the memory stick. TheUSB stick mustnot be removed when the AUXLED is lit green. After a
few seconds (dependent on the size of the data files to be transferred) the AUX LED will turn off. All data that has
not previously been transferred will be transferred and the USB memory stick can be removed.
! Do not remove the USB memory stick while the green AUX LED is lit
The following memory stick file formats are supported, exFAT, FAT32 and NTFS.
Downloading data is an automatic process whereby only data that has not previously been downloaded will be
transferred.
Data that has been previouslydownloadedcanbe re‐downloaded usingthe PrepareUSB tool described in chapter
7.1.
3.3 DOWNLOADING THE RAW SCAN DATA

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Files are automatically named in accordance with the start date and time of the dataset recording (with respect
to the time/date set on the data logger clock) in the form YYYY‐MM‐DD_hh‐mm‐ss.zip
An example file name for a dataset recorded at 13:41 on 31st October 2018 is:
2018-10-31_13-41-26.zip
The systemdate/time can be changed using the Prepare USB tool described inchapter 7.1.
The ZIP file contains two files:
YYYY‐MM‐DD_hh‐mm‐ss.geoslam ‐ file containing the raw scan data
YYYY‐MM‐DD_hh‐mm‐ss.params ‐ file containing key parameters used for data collection
To shut the ZEB‐HORIZON data logger down long press the power button until two beeps are emitted. The REVO
and DATA LED’s on the data logger will alternate RED until the system powers down.
! Do not turn the data logger off until the DATA LED is off.
REVOLED ondata logger
LED array on scan head
Description
BLUE flash
‐
‐
Data logger booting
BLUE
BLUE
Connecting to scan head
RED pulse
RED LED strobing
from left to right
Scanner is in standby mode
RED
RED
Scanner about to enter initiation mode
ORANGE flash
ORANGE flash
The scanner is in initiation mode
GREEN
GREEN
The scanner is scanning mode
DATALEDondata logger
ORANGE
‐
‐
Scan data is being formatted
! Do not turn the data logger off
GREEN
‐
‐
Datais transferringtoUSBmemory stick
!Donotremove the USBmemorystick
Table 3-1: ZEB-HORIZON LED status summary
3.4 FILE NAMING
3.5 SHUTTING DOWN

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REVOLEDondata 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
Datalogger turnedoffduringDataFormatting
Shut down paused until data formatting is
complete
Table 3-2: LED ERROR status summary

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4 USAGE GUIDELINES
This chapter provides guidelines for how the ZEB‐HORIZON should be used to achieve the best possible results.
Prior to conducting a survey, the user should plan the proposed survey path in order to identify potential problem
areas, e.g. feature poor environments, doorway transitions and stairwells. In these areas, the user should plan
how to conduct the survey taking into account the recommendations in this chapter. The plan should also make
provision for “closing loops” wherever possible. Please adhere to these guidelines in order to achieve the best
results.
The SLAM algorithm used to process the raw laser scan data into a 3D point cloud relies on there being features
in the scanned environment that are repeatedly scanned as the operator passes through the scanned
environment. For a featuretobe significant the ratio of its size toits range must be approximately 1:10, e.g. at 5m
range for a feature to be significant it must be >0.5m in size. ‘Feature poor’ environments include open spaces
and smooth walled passageways. In smooth walled passageways there may not be sufficient features in the
direction of travel for the SLAM algorithm to determine forward motion. In feature poor environments we
recommend the following steps are taken:
• If possible augment the environmentwith additional features. e.g. boxes in a corridor or a parked vehicle
in an open field.
• Ensure that whatever limited features are available are scanned repeatedly as you move through the
environment bypointingthe ZEB‐HORIZONin the direction of the feature. Bydoing so more measurement
points are made of the feature increasing the likelihood that it will be used by the SLAM algorithm. This is
particularly important when the feature is at long range (>10m). e.g. when scanning a smooth walled
passageway where the only feature in the direction of travel is the end wall or door.
• Avoid scanning moving objects (e.g. passing pedestrians or vehicles) as the SLAM algorithm may lock on
to these objects as static features.
The SLAM algorithm used to process the raw scan data into a point cloud uses a method analogous to the Traverse
technique used in survey practice, in that a previously known position is used to determine its current position.
This method can result in the compounding of any error introduced causing measure position to “drift”. It is good
survey practice to “close the loop” by re‐surveying a known position so that the compounded error can be spread
around the loop.
Asa minimum, it is required that the operator must start andend the survey in the same position to ensure at
least one loop closure. However, it is recommended where possible that the operator closes the loop as often as
possible in order to minimise error and improve the accuracy of the resulting point cloud.
Ingeneral, itisbetterto docircularloops ratherthan“there andback” loops where thesurvey pathsimply doubles
back on itself. This applies to horizontal and vertical loops, i.e. if possible enter and exit through different doors,
move between floors via different stair wells.
Itis important to scan the closed loop regions carefullyto ensure the key features are scanned from a similar
perspective. It may be necessary to turn around if you return to a region from a different direction. This is
particularly important in feature poor environments.
Extra care must be taken when transitioning between environments, for example passing through a doorway or
turningthroughatight bend toavoid introducing errors.When transitioning between environments thelocalview
may change abruptly and the SLAM algorithm may have difficulty placing the new environment relative to the
previous environment. This may result in rooms either side of a doorway being slightly misaligned.
Transition through doorways slowly and ensure that there is a period when the scanner can view features on both
sides of the doorway (i.e. into both rooms).
Try to open all doors before starting the survey. Avoid scanning doors as they are being opened. If necessary, face
away from the door and open from behind then pass through the doorway backwards.
4.1 THE ENVIRONMENT
4.2 LOOP CLOSURE
4.3 TRANSITIONING BETWEEN ENVIRONMENTS

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Transitionaroundtight bendsslowlyand ensure that there isa period when the scanner can view featureson
both sides of the bend.
Take care when transitioning from an enclosed feature rich environment to an open feature poor environment,
for example exiting a building. It may be necessary to turn and face the exit and the exterior of the building if no
other features are within range.
Avoid scanning any other moving objects (e.g. walking pedestrians) as you pass through a transition.
It is recommended that data is captured at walking speed to ensure good coverage and high‐resolution data. If
the forward movement is too fast there may not be enough repeat scans of features for the SLAM algorithm to be
able to process the raw laser data into a point cloud.
Data within a small range value is not processed (by default) to eliminate data from the scanner operator being
included in the final point cloud. Avoid close proximity to walls and ceilings.
The maximum range of the scanner is 100m. This range will only be achieved in optimal conditions (indoors with
good target reflectivity). The typical maximum range will be 60‐80m in most conditions. It is recommended that
the range is kept to less than 50m where possible to ensure good point density and to assist the SLAM algorithm.
For very large surveys the project should be broken down into more than one scan mission. This is to avoid very
large file sizes as well as reduce any drift that might be created in the data. It is recommended that each survey is
limited to 30 minutes. At slow walking pace, it is possible to cover 1000‐3000m of survey distance.
The scanning head can remain stationary for short periods of time whilst the operator negotiates difficult access
points(e.g.tightsqueezesincavesystems). Thescanningheadcanalsobeheldinthehandandmovedupand
down to mimic the normal oscillating motion for short periods of time to assist transition through survey areas
with restricted or difficult access.
InmostcasetheSLAMalgorithmisable to handle movingobjectsin theenvironment. Inordertoestimate the
sensortrajectorythe algorithmassumes alargeproportionoftheenvironmentisstatic. However,insomefeature
poor environments where 3D structure is lacking in some dimensions, moving objects can have a greater impact
on the solution. In particular, movingobjects shouldbe avoided in long tunnel‐like environments (e.g. corridors),
relatively open spaces and when transitioning through doorways.
Itis best practice not to have other people closelyaccompany the operator during the scan acquisition as they will
be scanned throughout the map leaving streaks of data and potentially corrupting the solution in feature poor
environments. If people are required to follow the operator they should ideally maintain a distance of 20m or
more from the operator.
4.8 MOVING OBJECTS IN THE ENVIRONMENT
4.4 WALKING SPEED
4.5 MINIMUM AND MAXIMUM RANGE
4.6 DURATION OF SCANNING
4.7 SURVEY AREAS WITH RESTRICTED OR DIFFICULT ACCESS

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5 DATA PROCESSING
It is necessary to process the raw data collected by the ZEB‐HORIZON using GeoSLAM’s 3D SLAM algorithm to
generate a homogenous 3D point cloud of the environment that has been mapped. This is done using the
GeoSLAM Hub processing software.
Installation of GeoSLAM Hub software is described in a separate User Guide.
Before the raw data can be processed is must be extracted from the zip file downloaded from the ZEB‐HORIZON
data logger. Copy the zip file from the USB memory stick used to download the file from the data logger to a
suitable folder on the PC running GeoSLAM Hub and extract the dot geoslam file (YYYY‐MM‐DD_hh‐mm‐
ss .geoslam ).Toextracta file from a zipfile right click on the zipfile and select “ExtractAll…”from the drop‐down
list.
Start the GeoSLAM Hub application and drag and drop the dot geoslam file (YYYY‐MM‐DD_hh‐mm‐ss .geoslam ) to
be processed into the “Drop datasets here to process” field on the user interface shown in Figure 5‐1.
Figure 5-1
The dataset will be imported into GeoSLAM Hub and will automatically start to process. After approximately the
same time it took to capture the dataset the processing of the dataset should be complete and become available
for viewing and post‐processing as shown in Figure 5‐2.
5.1 GEOSLAM HUB SOFTWARE

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Figure 5-2
To view the processed dataset, click the VIEW button next to the file name in the dataset list. A 3D view of the
dataset opens in a new GS View window.
Figure 5-3
Further instructions for data export and the other post processing options in GeoSLAM Hub are described in the
separate GeoSLAM Hub User Guide.

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6 BATTERY
Output voltage
14.8V nominal
Capacity
6.1Ah (+/‐5%) 90Wh
Charge voltage
16.8V
Weight
0.57kg
Charging temperature
00C to 400C
Life cycle
>300 cycles
Protection
Over current, over voltage, under voltage, thermal
Transportation
UN 38.3 transportation test certified
Table 6-1 Battery Specification
Plug the charger into the AC mains
– the LED light will glow green.
Plug the charger lead firmly into the battery theLED light will change to red to indicatecharging.
When the LED light changes back to green, the battery is fully charged.
Disconnect the charger from the battery and from the AC mains.
! Do not leave the charger connected to the battery for long periods after the battery is charged.
A single button press of the display button on the side of the battery shows a percentage figure of available
capacity, to a resolution of 1%.
Theaccuracy of thedisplay is maintainedbytracking batteryperformanceand adjusting calibration valuesto
compensate for the ageing of the cells.
When battery is fully‐discharged the display will indicate as below.
When the battery is fully charged the display will indicate 100%.
When connected to the ZEB‐HORIZON that is powered on, two presses of the battery’s display button will show a
predicted run‐time against the given load, expressed in hours and minutes.
6.1 SPECIFICATION
6.2 RECHARGING
6.3 CAPACITIY AND RUN‐TIME DISPLAY

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The Capacity display senses the orientation of the battery and adjusts to ensure legibility.
DO NOT dispose of in normal household waste.
DO NOT attempt to dismantle the battery.
DO NOT short circuit the battery.
ONLY use the charger supplied with the battery.
The battery should be charged fully before use.
If storing the battery, store in a charged state. Recharge after every 6 months.
Excess heat will degrade the battery rapidly. Always store the battery in a cool dry place. DO NOT leave for long
periods in the sun or in a hot vehicle.
It is recommended to recharge the battery within 12 hours if fully discharged.
Thebattery issplashproofbutnot water proof – donotimmerse in water.
The battery has been tested and passed section 38.3 of the UN Manual of Tests and Criteria (UN Transportation
Testing) as required by the IATA Dangerous Goods Regulations (2016), Section 2.3.5.9. The battery is below the
100Wh limit for transportation on passenger planes. For the purposes of air transportation, the battery is classed
as “Packed with equipment” (ICAO/IATA Packing Instruction 966, Section II) – Cells or batteries contained in a
package with associatedelectronicequipment. Specialrules mayapplytothetransportationofspare batteries.It
isrecommended that you checkwith your localairtransportation safety authorityand/orthe proposedair carrier
for specific requirements on lithium battery transportation.
Never ship a damaged battery by air transportation.
6.4 BATTERY CARE
6.5 TRANSPORTATION

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7 APPENDICES
A basic Window application called USB Prepare has been created to enable users to perform some basic
interaction with the ZEB‐HORIZON data logger. The USB Prepare tool can be obtained by emailing
[e-mail]
Figure 7-1
The following tasks can be performed:
‐ Download Log File
‐ Delete All Files
‐ Download All Files
‐ Download specific Files
‐ SetTime and Date
To perform any of the above tasks, insert a USB memory stick into a USB port on your computer and start the USB
Prepare Tool. Select the Drive letter for the USB memory stick (see Figure 7‐1) and check the tick box against the
task you want to perform.
To Download Specific Files, enter the date of the required files (YYYY‐MM‐DD). The example in Figure 7‐1 will
download all data collected during October 2018.
To Set Time and Date, enter the required time and date.
Click Prepare and a small command file will be written to the USB memory stick. Eject the USB memory from the
computer and attached to it to the ZEB‐HORIZON data logger. Start the data logger and the requested task(s) will
be performed after the data logger has booted. For the download tasks, the data will be written to the USB
memory stick. If you have selected Download All Files a USB memory stick of at least 128GB is recommended.
7.1 APPENDIX 1 ‐ USB PREPARE TOOL

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7.2 APPENDIX 2 – DIMENSIONAL DRAWINGS

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