Velodyne VLP16 用户手册.docx

发布时间：2022-06-19 发布人：admin 分类：说明书资料大小：12.18M 资料格式：docx 举报版权申诉

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i S A F E T Y N O T I C E S

7 S E T U P

1 0 U S A G E

1 2 S E N S O R D A T A

199 T R O U B L E S H O O T I N G

200 S P E C I F I C A T I O N S 2 1 A P P E N D

2 9 A P P E N D I X B

344 A P P E N D I X C

355 A P P E N D I X D

4 3 A P P E N D I X E

4 4 A P P E N D I X F

Caution

Calibrated Reflectivities

Diffuse Reflector

Return Modes

Case Contents

Mounting

Connections

Power

Ethernet

GPS

GPS Receiver Option 1: User Supplied GPS Receiver

GPS Receiver Option 2: Velodyne Supplied GPS Rece

Using the Sensor

1.Establish communication with the VLP-16.

3.Calculate X, Y, Z coordinates from reported data.

4.Plot or store the data as needed

Data Packet Format

Azimuth Value

Data Record

Time Stamp

Time Stamping Accuracy

Factory Bytes

The Position Packet

Service and Maintenance

Definitions

Firing Sequence

Laser Channel

Data Point

Data Block

Azimuth Interpolation

//First, adjust for a rollover from 359.99° t

Using the Interface Box

Caution!

Using the Sensors in Hardwired Applications

Important!

Time Synchronization with an External GPS/INS Syst

Interface Cable Signal Description

Setting up your computer to communicate with the s

oDefault IP: 192.168.1.201

Features

Installation

How to use

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 VLP-16 Velodyne LiDAR Puck

T A B L E O F C O N T E N T S V L P - 1 6 U S E R ’ S M A N U A L 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 C a l i b r a t e d R e f l e c t i v i t i e s 4 R e t u r n M o d e s 7 S E T U P 7 C a s e C o n t e n t s 7 M o u n t i n g 8 C o n n e c t i o n s 8 P o w e r 8 E t h e r n e t 9 G P S 1 0 U S A G E 1 0 U s i n g t h e S e n s o r 1 2 S E N S O R D A T A 1 2 D a t a P a c k e t F o r m a t 1 6 T i m e S t a m p 1 6 T i m e S t a m p i n g A c c u r a c y 16 6 F a c t o r y B y t e s 17 7 T h e P o s i t i o n P a c k e t 19 9 T R O U B L E S H O O T I N G 1 9 S e r v i c e a n d M a i n t e n a n c e 20 0 S P E C I F I C A T I O N S 2 1 A P P E N D I X A P a c k e t S t r u c t u r e & T i m i n g 2 9 A P P E N D I X B I n t e r f a c e B o x 34 4 A P P E N D I X C W e b s e r v e r G U I 35 5 A P P E N D I X D F i r m w a r e U p d a t e P r o c e d u r e 4 3 A P P E N D I X E V e l o V i e w 4 4 A P P E N D I X F M e c h a n i c a l D r a w i n g

S A F E T Y N O T I C E S V L P - 1 6 U S E R ’ S M A N U A L body. Refer servicing to qualified service personnel. is intended to alert the user Caution①To reduce the risk of electric shock and to avoid violating the warranty, do not open sensor ②The lightning flash with arrowhead symbol ③The exclamation point symbol is intended to alert the user to the presence of important 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. operating and maintenance (servicing) instructions in the literature accompanying the product. 1. Read Instructions – All safety and operating instructions should be read before the product is operated. 2. Retain Instructions – The safety and operating instructions should be retained for future reference. 3. Heed Warnings – All warnings on the product and in the operating instructions should be adhered to. 4. Follow Instructions – All operating and use instructions should be followed. 5. 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. Complies with IEC 60825- 1 CAUTION Use of controls or adjustments or performance of procedures other than those specified herein may result in hazardous radiation exposure

S A F E T Y N O T I C E S V L P - 1 6 U S E R ’ S M A N U A L i

I N T R O D U C T I O N V L P - 1 6 U S E R ’ S M A N U A L Congratulations on your purchase of a Velodyne VLP-16 Real-Time 3D LiDAR Sensor. This sensor provides state-of- the-art 3D imaging in real time. This manual describes format and interpretation, and GPS installation notes. how to set up and operate the VLP-16. It covers installation and wiring, output packet This manual is undergoing constant revision and improvement – check www.velodynelidar.com for updates. 1

P R I N C I P L E S O F O P E R A T I O N V L P - 1 6 U S E R ’ S M A N U A L The VLP-16 creates 360º 3D images by using 16 laser/detector pairs mounted in a compact housing. The housing rapidly spins to scan the surrounding environment. The lasers fire thousands of times per second, providing a rich, 3D point cloud in real time. Advanced digital signal processing and waveform analysis provide high accuracy, extended distance sensing, and calibrated reflectivity data. Unique features include:  Horizontal Field of View (FOV) of 360°  Rotational speed of 5-20 rotations per second (adjustable)   Returns of up to 100 meters (useful range depends on application) Vertical Field of View (FOV) of 30° Figure 1. Overview of the LiDAR VLP-16 3D Imaging System 2

P R I N C I P L E S O F O P E R A T I O N Calibrated Reflectivities V L P - 1 6 U S E R ’ S M A N U A L The VLP-16 measures the reflectivity of an object with 256-bit resolution independent of laser power and distance over a range from 1m to 100m. Commercially available reflectivity standards and retro-reflectors are used for the absolute calibration of the reflectivity, which is stored in a calibration table within the FPGA of the VLP-16.  Diffuse reflectors report values from 0-100 for reflectivities from 0% to 100%.  Retro-reflectors report values from 101 to 255 with 255 being the reported reflectivity for an ideal retro- obstructed or imperfect retro-reflectors. reflector and 101-254 being the reported reflectivity for partially Diffuse Reflector Black, absorbent diffuse reflector (value 0) White, reflective diffuse reflector (value 100) Retro-Reflector: Retro-reflector covered with semi- transparent white surface (value 101) Figure 2. Reflector Types Retro-reflector without any coverage (value 255) 3

P R I N C I P L E S O F O P E R A T I O N Return Modes V L P - 1 6 U S E R ’ S M A N U A L Due to the laser’s beam divergence, a single laser firing often hits multiple objects producing multiple returns. The VLP-16 analyzes multiple returns and reports either the strongest return, the last return, or both returns. In the illustration below, the majority of the beam hits the near wall while the remainder of the beam hits the far wall. The VLP-16 will record both returns only if the distance between the two objects is greater than 1m. In the event that the strongest return is the last return, the second-strongest return is reported. Figure 3. Return Modes The dual return function is often used in forestry applications where the user needs to determine the height of the trees. The figure below illustrates what happens when the laser spot hits the outer canopy, penetrates the leaves and branches, and eventually hits the ground. Figure 4a. Dual Returns Example 1 4

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