Velodyne VLS-128 User manual

VLS-128 User Manual
63-9483 Rev. A
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Copyright 2018 Velodyne LiDAR, Inc. All rights reserved.
Trademarks
Velodyne™, HDL-32E™, HDL-64E™, VLP-16™, VLP-32™, Puck™, Puck LITE™, Puck Hi-Res™, Ultra Puck™, VLS-128™,
and Velarray™ are trademarks of Velodyne LiDAR, Inc. All other trademarks, service marks, and company names in this
document or website are properties of their respective owners.
Disclaimer of Liability
The information contained in this document is subject to change without notice. Velodyne LiDAR, Inc. shall not be liable for
errors contained herein or for incidental or consequential damage in connection with the furnishing, performance, or use
of this document or equipment supplied with it.
The materials and information contained herein are being provided by Velodyne LiDAR, Inc. to its Customer solely for Cus-
tomer’s use for its internal business purposes. Velodyne LiDAR, Inc. retains all right, title, interest in and copyrights to the
materials and information herein. The materials and information contained herein constitute confidential information of
Velodyne LiDAR, Inc. and Customer shall not disclose or transfer any of these materials or information to any third party.
No part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, includ-
ing photocopying and recording, or stored in a database or retrieval system for any purpose without the express written
permission of Velodyne LiDAR, Inc., which reserves the right to make changes to this document at any time without notice
and assumes no responsibility for its use. This document contains the most current information available at the time of pub-
lication. When new or revised information becomes available, this entire document will be updated and distributed to all
registered users.
Limited Warranty
Except as specified below, products sold hereunder shall be free from defects in materials and workmanship and shall con-
form to Velodyne's published specifications or other specifications accepted in writing by Velodyne for a period of one (1)
year from the date of shipment of the products. The foregoing warranty does not apply to any Garmin products, other
products not manufactured by Velodyne or products that have been subject to misuse, neglect, or accident, or have been
opened, dissembled, or altered in any way. 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; (ii) after Velodyne's written authorization, Buyer has
returned the nonconforming product to Velodyne at Buyer's expense; and (iii) Velodyne has determined that the product is
nonconforming and that such nonconformity is not the result of improper installation, repair or other misuse. Velodyne will
pay for return shipping for all equipment repaired or replaced under warranty and Buyer will pay all duties or taxes, if any,
on all equipment repaired or replaced under warranty. THE FOREGOING WARRANTY AND REMEDIES ARE
EXCLUSIVE AND MADE EXPRESSLY IN LIEU OF ALL OTHER WARRANTIES, EXPRESSED, IMPLIED OR
OTHERWISE, INCLUDING WARRANTIES OF 65-0003 Rev E Velodyne LiDAR Terms & Conditions Page 3 of 5 2016-
03-31 MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. VELODYNE DOES NOT ASSUME OR
AUTHORIZE ANY OTHER PERSON TO ASSUME FOR IT ANY OTHER LIABILITY IN CONNECTION WITH ITS
PRODUCTS. This warranty is non-transferable.
Velodyne LiDAR, Inc.
5521 Hellyer Ave
San Jose, CA 95138
Phone [phone]
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Revision History
Sensor Firmware Release
Date Release Notes
VLS-128 5.0.6.0 2018-xx-xx
• DRAFT release of B1 version.
• Added thermal and ADC fields to the
Position Packet.
For full details, see the Release Notes at http://www.velodynelidar.com/downloads.html#firmware.
Last Updated: 2018-09-12 3
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Table of Contents
Chapter 1 • About This Manual
1.1 Manual Scope 16
1.2 Prerequisite Knowledge 16
1.3 Audience 16
1.4 Document Conventions 16
Chapter 2 • VLS-128 Overview
2.1 Overview 18
2.2 Product Models 19
2.3 Time of Flight 19
2.4 Data Interpretation Requirements 19
Chapter 3 • Safety Precautions
3.1 Warning and Caution Definitions 20
3.1.1 Caution Hazard Alerts 20
3.2 Safety Overview 20
3.2.1 Electrical Safety 20
3.2.2 Mechanical Safety 20
3.2.3 Laser Safety 20
Chapter 4 • Unboxing & Verification
4.1 What’s in the Box? 22
4.1.1 Bulkhead Connectors 22
4.1.1.1 Ethernet Bulkhead Connector 22
4.1.1.2 Power+GPS Bulkhead Connector 22
4.1.2 Accessories 22
4.1.3 Variants 23
4.2 Verification Procedure 23
4.2.1 Network Setup in Isolation 23
4.2.2 Access Sensor’s Web Interface 25
4.2.3 Visualize Live Sensor Data with VeloView 26
4.2.3.1 VeloView Operation 27
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Chapter 5 • Installation & Integration
5.1 Overview 28
5.2 Mounting 28
5.3 Encapsulation, Solar Hats, and Ventilation 29
5.4 Connections 29
5.4.1 Interface Box and Cable 29
5.4.2 Operation Without an Interface Box 29
5.4.3 Power 29
5.4.3.1 Power Considerations 30
Chapter 6 • Key Features
6.1 Calibrated Reflectivity 31
6.2 Laser Return Modes 31
6.2.1 Single Return Modes: Strongest, Last 31
6.2.2 Multiple Returns 32
6.2.3 Dual Return Mode 32
6.3 Phase Locking Multiple Sensors 36
Chapter 7 • Sensor Inputs
7.1 Power Requirements 38
7.2 Interface Box Signals 39
7.3 Ethernet Interface 40
7.4 GPS, Pulse Per Second (PPS) and NMEA GPRMC Message 40
7.4.1 GPS Input Signals 40
7.4.2 Electrical Requirements 40
7.4.3 Timing and Polarity Requirements 40
7.4.4 GPS Connection Scenarios 43
7.4.4.1 Connecting a Garmin 18x LVC GPS Receiver 43
7.4.4.2 Connecting to a computer's serial port 45
7.4.4.3 Connecting to a microcomputer’s UART 45
7.4.5 NMEA Message Formats 46
7.4.5.1 Pre-NMEA Version 2.3 Message Format 46
7.4.5.2 NMEA Version 2.3 Message Format 47
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7.4.6 Accepting NMEA Messages Via Ethernet 48
Chapter 8 • Sensor Operation
8.1 Firing Sequence 49
8.2 Throughput Calculations 49
8.2.1 Data Packet Rate 49
8.2.2 Position Packet Rate 49
8.2.3 Total Packet Rate 49
8.2.4 Laser Measurements Per Second 50
8.2.4.1 Single Return Mode (Strongest, Last) 50
8.2.4.2 Dual Return Mode 50
8.3 Rotation Speed (RPM) 50
8.3.1 Horizontal Angular (Azimuth) Resolution 50
8.3.2 Rotation Speed Fluctuation and Point Density 51
Chapter 9 • Sensor Data
9.1 Sensor Origin and Frame of Reference 52
9.2 Calculating X,Y,Z Coordinates from Collected Spherical Data 52
9.3 Packet Types and Definitions 53
9.3.1 Definitions 53
9.3.1.1 Firing Sequence 54
9.3.1.2 Laser Channel 54
9.3.1.3 Data Point 54
9.3.1.4 Azimuth 54
9.3.1.5 Data Block 54
9.3.1.6 Time Stamp 54
9.3.1.7 Factory Bytes 55
9.3.2 Data Packet Structure 56
9.3.3 Position Packet Structure 57
9.4 Discreet Point Timing Calculation 60
9.5 Precision Azimuth Calculation 62
9.6 Converting PCAP Files to Point Cloud Formats 65
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Chapter 10 • Sensor Communication
10.1 Web Interface 67
10.1.1 Configuration Screen 68
10.1.1.1 MAC Address 70
10.1.1.2 Correctly reset MAC Address to Factory MAC Address 70
10.1.2 System Screen 71
10.1.3 Info Screen 72
10.1.4 Diagnostics Screen 74
10.2 Sensor Control with curl 75
10.2.1 Using curl with Velodyne LiDAR Sensors 75
10.2.2 curl Command Parameters 75
10.2.3 Command Line curl Examples 76
10.2.3.1 Get Diagnostic Data 76
10.2.3.2 Conversion Formulas 77
10.2.3.3 Interpret Diagnostic Data 77
10.2.3.3.1 top:hv 77
10.2.3.3.2 top:lm20_temp 78
10.2.3.3.3 top:pwr_5v 78
10.2.3.3.4 top:pwr_2_5v 78
10.2.3.3.5 top:pwr_3_3v 78
10.2.3.3.6 top:pwr_raw 79
10.2.3.3.7 top:pwr_vccint 79
10.2.3.3.8 bot:i_out 79
10.2.3.3.9 bot:lm20_temp 79
10.2.3.3.10 bot:pwr_1_2v 80
10.2.3.3.11 bot:pwr_1_25v 80
10.2.3.3.12 bot:pwr_2_5v 80
10.2.3.3.13 bot:pwr_3_3v 80
10.2.3.3.14 bot:pwr_5v 80
10.2.3.3.15 bot:pwr_v_in 81
10.2.3.4 Get Snapshot 81
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10.2.3.5 Get Sensor Status 81
10.2.3.6 Set Motor RPM 81
10.2.3.7 Set Field of View 82
10.2.3.8 Set Return Type (Strongest, Last, Dual) 82
10.2.3.9 Save Configuration 82
10.2.3.10 Reset System 82
10.2.3.11 Network Configuration 83
10.2.3.12 Set Host (Destination) IP Address 83
10.2.3.13 Set Data Port 83
10.2.3.14 Set Telemetry Port 83
10.2.3.15 Set Network (Sensor) IP Address 83
10.2.3.16 Set Netmask 83
10.2.3.17 Set Gateway 83
10.2.3.18 Set DHCP 83
10.2.4 curl Example using Python 84
Chapter 11 • Troubleshooting
11.1 Troubleshooting Process 86
11.1.1 Turned DHCP On, Lost Contact With Sensor 88
11.2 Service and Maintenance 88
11.2.1 Fuse Replacement 88
11.3 Technical Support 89
11.3.1 Purchased through a Distributor 89
11.3.2 Factory Support 89
11.3.3 Support Desk 89
11.4 Return Merchandise Authorization (RMA) 89
Appendix A • Sensor Specifications
Appendix B • Firmware Update
B.1 Firmware Update Procedure 91
B.1.1 Special Procedure to Update Firmware 97
B.1.2 If An Error Occurs 98
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Appendix C • Mechanical Diagrams
C.1 Interface Box Mechanical Drawing 100
C.2 VLS-128 Mechanical Drawing 101
C.3 VLS-128 Optical Keep Out Zone 102
Appendix D • Wiring Diagrams
D.1 Interface Box Wiring Diagram 104
D.2 Interface Box Schematic 105
Appendix E • VeloView
E.1 Features 106
E.2 Install VeloView 107
E.3 Visualize Streaming Sensor Data 107
E.4 Capture Streaming Sensor Data to PCAP File 108
E.5 Replay Captured Sensor Data from PCAP File 108
Appendix F • Laser Pulse
F.1 The Semiconductor Laser Diode 113
F.2 Laser Patterns 114
F.2.1 Laser Spot Pattern 114
F.2.2 Laser Scan Pattern 114
F.2.3 Beam Divergence 115
Appendix G • Time Synchronization
G.1 Introduction 116
G.2 Background 116
G.3 PPS Qualifier 117
G.3.1 Require GPS Receiver Valid 117
G.3.2 Require PPS Lock 117
G.3.3 Delay 118
G.4 GPS Qualifier 118
G.5 Application 118
G.6 Logic Tables 118
Appendix H • Phase Lock
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H.1 Phase Lock 120
H.1.1 Setting the Phase Lock 120
H.1.2 Application Scenarios 121
H.2 Field of View 123
H.3 Status 123
Appendix I • Sensor Care
I.1 Cleaning the Sensor 125
I.1.1 Required Materials 125
I.1.2 Determine Method of Cleaning 126
I.1.3 Method One 126
I.1.4 Method Two 126
I.1.5 Method Three 126
I.1.6 Method Four 127
Appendix J • Network Configuration
J.1 Ethernet and Network Setup 128
J.1.1 Defaults 128
J.1.2 Establishing Communication via Ethernet 128
J.2 Network Considerations 129
J.2.1 Throughput Requirements 129
J.2.2 Single Sensor Transmitting to a Broadcast Address 130
J.2.3 Multiple Sensors in the Same Network 130
J.2.3.1 Multiple Sensors Transmitting to a Broadcast Address 130
J.2.3.2 Multiple Sensors Transmitting to a Specific Address 131
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List of Tables
Table 1-1 Document Conventions 16
Table 2-1 3D Sensing System Components 19
Table 7-1 Interface Box Signals 39
Table 7-2 Pre-NMEA Version 2.3 Message Format 47
Table 7-3 Post-NMEA Version 2.3 Message Format 47
Table 8-1 Rotation Speed vs Resolution 51
Table 9-1 Factory Byte Values 55
Table 9-2 Position Packet Structure Field Offsets 58
Table 9-3 PPS Status Byte Values 59
Table 10-1 Configuration Screen Functionality and Features 68
Table 10-2 System Screen Functionality and Features 71
Table 10-3 Info Screen Functionality and Features 72
Table 10-4 System Screen Functionality and Features 74
Table 11-1 Common Problems and Resolutions 86
Table F-1 VLS-128 Beam Divergence 115
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List of Figures
Figure 2-1 Example 3D Sensing System 18
Figure 3-1 Class 1 Laser 21
Figure 4-1 Sensor Network Settings 24
Figure 4-2 Interface Box (power and data connections) 25
Figure 4-3 Sample Web Interface Main Configuration Screen 25
Figure 4-4 VeloView Open Sensor Stream 27
Figure 6-1 A Single Return 32
Figure 6-2 Dual Return with Last and Strongest Returns 33
Figure 6-3 Dual Return with Second Strongest Return 34
Figure 6-4 Dual Return with Far Retro-Reflector 35
Figure 6-5 Forestry Application Multiple Returns 36
Figure 6-6 Phase Locking Example 37
Figure 7-1 Interface Box (sensor power and data connections) 39
Figure 7-2 Synchronizing PPS with NMEA GPRMC Message 40
Figure 7-3 PPS Signal Closely Followed by NMEA GPRMC Message 41
Figure 7-4 PPS Signal Followed 600 ms later by NMEA GPRMC Message 41
Figure 7-5 RS-232 Example Transmission 42
Figure 7-6 Garmin 18x LVC Configuration 43
Figure 7-7 Garmin GPRMC Message 44
Figure 7-8 DB9 Pin-outs (DTE) and USB-to-Serial Adapter 45
Figure 7-9 Signal Directly from UART (incorrect polarity) 45
Figure 7-10 Inverted Signal from UART (correct polarity) 46
Figure 8-1 Point Density Example 51
Figure 9-1 VLS-128 Sensor Coordinate System 53
Figure 9-2 VLS-128 Single Return Mode Data Structure 56
Figure 9-3 VLS-128 Dual Return Mode Data Structure 57
Figure 9-4 Wireshark Position Packet Trace 60
Figure 9-5 Firing Sequence Timing 61
Figure 9-6 Single Return Mode Timing Offsets (in µs) 62
Figure 9-7 Dual Return Mode Timing Offsets (in µs) 62
Figure 9-8 VLS-128 Azimuth Offsets by Elevation 63
Figure 9-9 VLS-128 Laser Pattern 64
Figure 10-1 VLS-128 Configuration Screen 68
Figure 10-2 VLS-128 System Screen 71
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Figure 10-3 VLS-128 Info Screen 72
Figure 10-4 VLS-128 Diagnostics Screen 74
Figure B-1 Velodyne Downloads Page 91
Figure B-2 Compare Firmware Versions 92
Figure B-3 Select New Firmware Image 93
Figure B-4 Upload New Firmware Image 94
Figure B-5 Firmware Update Complete Page 95
Figure B-6 Finalize Firmware Update 96
Figure B-7 Verify Firmware Versions 97
Figure C-1 Interface Box Mechanical Drawing 50-1483 Rev 1 100
Figure C-2 VLS-128 Mechanical Drawing 86-0137 REV A 101
Figure C-3 VLS-128 Optical Keep Out Zone 86-0137 REV A 102
Figure D-1 Interface Box Wiring Diagram 86-0107A 104
Figure D-2 Interface Box Schematic 69-8230A 105
Figure E-1 VeloView Open Sensor Stream 107
Figure E-2 VeloView Record Button 108
Figure E-3 VeloView Open Capture File 109
Figure E-4 VeloView Play Button 109
Figure E-5 VeloView Spreadsheet Tool 110
Figure E-6 VeloView Data Point Table 110
Figure E-7 VeloView Show Only Selected Elements 111
Figure E-8 VeloView Select All Points 111
Figure E-9 VeloView List Selected Points 112
Figure F-1 Laser Diode Concept 113
Figure F-2 Laser Spot Shape 114
Figure G-1 Web Interface PPS and GPS Qualifier Option Selections 116
Figure G-2 Top of Hour Counters 117
Figure G-3 Sub-Second Counter Behavior 118
Figure G-4 Minutes and Seconds Counter Behavior 119
Figure H-1 Direction of Laser Firing 120
Figure H-2 Configuration Screen - Phase Lock 121
Figure H-3 Right and Left Sensor Phase Offset 122
Figure H-4 Fore and Aft Sensor Phase Offset 122
Figure H-5 Sensor Data Shadows 123
Figure J-1 Sensor Network Settings 129
Figure J-2 Single Sensor Broadcasting on a Simple Network 130
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Figure J-3 Multiple Sensors - Improper Network Setup 131
Figure J-4 Multiple Sensors - Proper Network Setup 131
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List of Equations
Equation 8-1 Azimuth Resolution at 600 RPM 50
Equation 10-1 Standard Voltage Conversion 77
Equation 10-2 Standard Current Conversion 77
Equation 10-3 Standard Temperature Conversion 77
Equation F-1 Gap Between Scan Lines 114
Equation H-1 Arc of Shadow 123
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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. In addition, some familiarity with the configuration and operation of networking applications and
equipment is recommended.
It is recommended that prior to installation or other procedures covered in this manual, the user fully reads and com-
prehends all information within this manual.
1.3 Audience
The user mentioned occasionally in this document is typically an engineer tasked with sensor integration for a project, a
tech tasked with sensor upkeep, or data scientist looking to understand sensor output data.
1.4 Document Conventions
This document uses the following typographic conventions:
Convention Description
Bold Indicates text on a window, other than the window title, including menus, menu options, buttons,
fields, and labels. Example: Click OK.
Italic
Indicates a variable, which is a placeholder for actual text provided by the user or system. Example:
copy source-file target-file Note: Angled brackets (< >) are also used to indicate variables.
screen/code Indicates text that is displayed on screen or entered by the user. Example:
# pairdisplay -g oradb
[ ] square
brackets Indicates optional values. Example: [ a | b ] indicates that you can choose a, b, or nothing.
{ } braces Indicates required or expected values. Example: { a | b } indicates that you must choose either a or
b.
| vertical bar Indicates that you have a choice between two or more options or arguments. Examples: [ a | b ]
indicates that you can choose a, b, or nothing. { a | b } indicates that you must choose either a or b.
Table 1-1 Document Conventions
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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 17
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Chapter 2 • VLS-128 Overview
This chapter provides basic information on the sensor's hardware and software components.
2.1 Overview 18
2.2 Product Models 19
2.3 Time of Flight 19
2.4 Data Interpretation Requirements 19
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.
Advanced digital signal processing and waveform analysis provide highly accurate long-range sensing, as well as cal-
ibrated reflectivity data, enabling easy detection of retro-reflectors like street-signs, license plates, and lane markings.
Sensor data is made available to your application via Ethernet in real-time in the form of UDP packets.
Figure 2-1 Example 3D Sensing System
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Item Description
1 Desktop/Laptop Computer
2 INS/GPS Antenna/Interface (optional)
3 Velodyne Interface Box
4 Velodyne LiDAR Sensor
5 DC Power Supply
Table 2-1 3D Sensing System Components
Note: Optional - not included unless ordered: Garmin GPS 18x LVC receiver (P/N: 80-GPS18LVC). When purchased
through Velodyne LiDAR, it comes pre-configured for use with any Velodyne sensors, making it a great reference GPS
receiver. Plugs directly into the Interface Box.
2.2 Product Models
For ordering information, contact Sales at http://www.velodynelidar.com/contacts.php. Data sheets for available models
can be downloaded from http://velodynelidar.com/downloads.html#datasheets.
2.3 Time of Flight
Velodyne LiDAR sensors use time-of-flight (ToF) methodology.
When each IR laser emits a laser pulse, its time-of-shooting and direction are registered. The laser pulse travels through
air until it hits an obstacle which reflects some of the energy. A portion of that energy is received by the paired IR detector,
which registers the time-of-acquisition and power received.
2.4 Data Interpretation Requirements
Desktop, Laptop or Embedded computer
Advanced geo-referencing software application
GPS-Based
SLAM-Based
User Built
Purchased from System Integrator
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 19
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Chapter 3 • Safety Precautions
This chapter provides information necessary for the safe operation of Velodyne LiDAR sensors.
Observe the following general safety precautions during all LiDAR sensor phases of operation. Failure to comply with
these precautions or with specific warnings elsewhere in this manual violates safety standards of intended sensor usage
and may impair the protection provided by the equipment. Velodyne LiDAR, Inc. assumes no liability for failure to comply
with these requirements.
3.1 Warning and Caution Definitions
3.1.1 Caution Hazard Alerts
CAUTION
CAUTION indicates a potentially hazardous situation which may res-
ult in minor or moderate injury. It may also be used to alert against
unsafe practices. The icon shown in the left column displays the spe-
cific concern; in this case, a hot surface.
3.2 Safety Overview
3.2.1 Electrical Safety
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 Service
and Maintenance on page 88 for details.
3.2.2 Mechanical Safety
CAUTION
The VLS-128 sensor contains a rapidly spinning assembly. Do not
operate the VLS-128 sensor without its cover firmly installed. The
sensor does not contain user serviceable parts. It should not be
opened in the field.
3.2.3 Laser Safety
This device complies with FDA performance standards for laser products except for deviations pursuant to Laser Notice
No. 50, dated June 24, 2007.
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