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Velodyne-LiDAR-VLP-16-User-Manual.pdf
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Velodyne-LiDAR-VLP-16,velodyne激光雷达VLP用户使用手册,英文版。This manual provides descriptions and procedures supporting the installation, verification, operation, and diagnostic evaluation of the VLP-16, Puck LITE and Puck Hi-Res sensors.
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VLP-16 User Manual
63-9243 Rev. D
Copyright 2018 Velodyne LiDAR, Inc. All rights reserved.
Trademarks
Velodyne™, HDL-32E™, HDL-64E™, VLP-16™, VLP-32™, Puck™, Puck LITE™, Puck Hi-Res™, and Ultra Puck™ are trade-
marks 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 +1 408-465-2800
Revision History
Sensor Firmware
Release
Date
Release Notes
VLP-16 3.0.37.0 2017-12-12
• CHANGED: Phase Lock Offset setting now expects
integer degrees instead of hundredths of degrees.
• IMPROVED: Removed 'Update Calibration' from System
tab.
• IMPROVED: Sun Noise Filter.
• ADDED: Ability to change sensor's Ethernet MAC
Address from Web Interface.
• IMPROVED: Low signal cross-talk filtering performance.
• IMPROVED: Firmware update messages during update.
• IMPROVED: Phase Lock rotations error < ±5 degrees.
• FIXED: Intermittent ghost returns at 40, 80 and greater
than 124 meters.
• IMPROVED: Several JSON data additions and changes.
• ADDED: Reverse rotation capability. Specify negative
RPM values to use this capability.
For details, see the full Release Notes at http://www.ve-
lodynelidar.com/downloads.html#firmware.
3
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 • VLP-16 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
21
Chapter 4 • Unboxing & Verification
4.1 What’s in the Box?
22
4.1.1 Variants
22
4.2 Verification Procedure
22
4.2.1 Network Setup in Isolation
23
4.2.2 Access Sensor’s Web Interface
24
4.2.3 Visualize Live Sensor Data with VeloView
26
4.2.3.1 VeloView Operation
27
Chapter 5 • Installation & Integration
5.1 Overview
29
5.2 Mounting
29
5.3 Encapsulation, Solar Hats, and Ventilation
30
4 VLP-16 User Manual
5.4 Connections
30
5.4.1 Integrated Cable and Interface Box
31
5.4.2 Operation Without an Interface Box
31
5.4.3 Power
31
Chapter 6 • Key Features
6.1 Calibrated Reflectivity
32
6.2 Laser Return Modes
32
6.2.1 Single Return Modes: Strongest, Last
32
6.2.2 Multiple Returns
33
6.2.3 Dual Return Mode
33
6.3 Phase Locking Multiple Sensors
37
Chapter 7 • Sensor Inputs
7.1 Power Requirements
39
7.2 Interface Box Signals
40
7.3 Ethernet Interface
41
7.4 GPS, Pulse Per Second (PPS) and NMEA GPRMC Message
41
7.4.1 GPS Input Signals
41
7.4.2 Electrical Requirements
41
7.4.3 Timing and Polarity Requirements
41
7.4.4 GPS Connection Scenarios
44
7.4.4.1 Connecting a Garmin 18x LVC GPS Receiver
44
7.4.4.2 Connecting to a computer's serial port
44
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
7.4.6 Accepting NMEA Messages Via Ethernet
48
Chapter 8 • Sensor Operation
8.1 Firing Sequence
49
8.2 Throughput Calculations
49
5
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