Emesent HOVERMAP-ZOE Manuale utente

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HOVERMAP-ZOE USER

MANUAL

DOCUMENT NUMBER: UM-017

REVISION NUMBER: 1.0

RELEASE DATE: 01 NOV 2021

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PREPARED BY:

EMESENT PTY LTD

LEVEL G, BUILDING 4, KINGS ROW OFFICE PARK

40-52 MCDOUGALL ST, MILTON, QLD, 4064 AUSTRALIA

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EMAIL:  [email protected]

PHONE: +61 7 3548 9494

Hovermap-Zoe user manual

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Release date: 01 Nov 2021

Revision: 1.0

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The content of this document is confidential and intended for reading only by the addressee. All rights

including Intellectual Property Rights flowing from, incidental to or contained in this document

irrevocably vest in Emesent unless otherwise agreed to in writing.

©Emesent 2021

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Using this manual

Hovermap is a powerful system that can be used as a Lidar mapping payload but also as an advanced

autopilot for drones. It is therefore recommended to read the user manual thoroughly to make use of

all its capabilities in a safe and productive way.

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Disclaimer and safety guidelines

This product is not a toy and is not suitable for children under the age of 18. It must be operated with

caution, common sense and according to the instructions in this user manual. Failure to operate it in a

safe and responsible manner could result in product loss or injury.

By using this product, you hereby agree that you are solely responsible for your own conduct while

using it, and for any consequences thereof. You also agree to use this product only for purposes that

are in accordance with all applicable laws, rules and regulations.

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Hovermap-Zoe user manual

Release date: 01 Nov 2021

Revision: 1.0

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Warnings

This document is legally privileged, confidential under applicable law and is intended only for the use of

the individual or entity to whom it is addressed. If you have received this transmission in error, you are

hereby notified that any use, dissemination, distribution or reproduction is strictly prohibited. If you are

not the intended recipient, please notify the sender and delete the message from your system.

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Product warnings

Hovermap-Zoe user manual
Release date: 01 Nov 2021
Revision: 1.0
iii
Contents
Introduction......................................................................................................1
1 Hovermap-Zoe ..........................................................................................................................1
2 Hovermap ..................................................................................................................................3
3 Autonomy modes .....................................................................................................................5
3.1 Mapping mode..........................................................................................................................5
3.2 Pilot Assist mode.......................................................................................................................5
3.3 Autonomous Waypoint mode .................................................................................................5
4 Specifications.............................................................................................................................6
5 Hovermap-Zoe case inclusions ...............................................................................................7
Data capture basics ...................................................................................... 10
1 Overview ..................................................................................................................................10
2 Basic workflow ........................................................................................................................10
2.1 Capture ....................................................................................................................................11
2.2 Connect ....................................................................................................................................12
2.3 Compute ..................................................................................................................................12
3 Concepts ..................................................................................................................................13
3.1 SLAM.........................................................................................................................................13
3.1.1 Capabilities ..............................................................................................................................13
3.1.2 Limitations ...............................................................................................................................13
4 Mission planning and scanning techniques ........................................................................14
4.1 Hovermap settings .................................................................................................................14
4.2 Point density and resolution .................................................................................................15
4.2.1 Point density............................................................................................................................15
4.2.2 Resolution................................................................................................................................15
4.3 Environmental features .........................................................................................................15
4.4 Smaller scans...........................................................................................................................17

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4.5 Scanning patterns...................................................................................................................17
4.5.1 “Closing the loop”....................................................................................................................17
4.5.2 Grid pattern .............................................................................................................................18
4.6 Flight parameters....................................................................................................................18
4.6.1 Speed........................................................................................................................................18
4.6.2 Height .......................................................................................................................................18
4.7 Georeferencing .......................................................................................................................18
Controls.......................................................................................................... 19
1 Controller setup ......................................................................................................................19
1.1 The controller ..........................................................................................................................19
1.2 Tablet mount ...........................................................................................................................19
1.3 Using the controller................................................................................................................19
2 Web UI......................................................................................................................................22
2.1 Overview ..................................................................................................................................22
2.2 Access the Web UI...................................................................................................................22
2.3 Web UI layout ..........................................................................................................................23
2.4 Web UI functions.....................................................................................................................24
2.4.1 Remotely start or stop a scan................................................................................................24
2.4.2 Set the scan name ..................................................................................................................25
2.4.3 Set the system time ................................................................................................................25
2.4.4 Update firmware.....................................................................................................................25
2.4.5 Individual file download.........................................................................................................25
3 The Hovermap App.................................................................................................................27
3.1 Overview ..................................................................................................................................27
3.1.1 Specifications...........................................................................................................................27
3.1.2 Supported devices ..................................................................................................................27
3.2 The Hovermap App.................................................................................................................28
3.2.1 App color guide .......................................................................................................................29
3.3 Hovermap App components .................................................................................................30

Hovermap-Zoe user manual
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v
3.3.1 Settings menu .........................................................................................................................30
3.3.2 Hovermap status bar..............................................................................................................32
3.3.3 Hovermap workflow ...............................................................................................................34
3.3.4 The Waypoint UI......................................................................................................................39
3.3.5 The Web UI ..............................................................................................................................56
3.3.6 Hovermap odometry bar .......................................................................................................57
3.3.7 Hovermap platform................................................................................................................57
3.3.8 VESH limits...............................................................................................................................57
3.3.9 Master Controls ......................................................................................................................58
3.3.10 Zoe status bar .........................................................................................................................61
3.3.11 Zoe odometry bar...................................................................................................................62
Drone operation ........................................................................................... 63
1 Standard operating procedures............................................................................................63
1.1 Overview ..................................................................................................................................63
1.2 Operating procedures............................................................................................................63
1.2.1 Set up Hovermap-Zoe ............................................................................................................64
1.2.2 Check the system....................................................................................................................66
1.2.3 Powering up.............................................................................................................................68
1.2.4 Flight .........................................................................................................................................72
1.2.5 Post-flight.................................................................................................................................75
2 Mapping mode........................................................................................................................77
2.1 Overview ..................................................................................................................................77
2.2 Mapping mode functions.......................................................................................................77
2.3 Mapping mode operational checklist...................................................................................77
2.3.1 Step 1: Drone inspection........................................................................................................77
2.3.2 Step 2: Powering on................................................................................................................78
2.3.3 Step 3: Taking off ....................................................................................................................79
2.3.4 Step 4: Flight/scanning ...........................................................................................................80
2.3.5 Step 5: Landing........................................................................................................................80

Hovermap-Zoe user manual
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Revision: 1.0
vi
2.3.6 Step 6: Downloading the data...............................................................................................80
2.3.7 Step 7: Shut down...................................................................................................................81
3 Pilot Assist mode.....................................................................................................................82
3.1 Overview ..................................................................................................................................82
3.2 Pilot Assist mode functions ...................................................................................................82
3.3 Pilot Assist mode operational checklist ...............................................................................82
3.3.1 Step 1: Drone inspection........................................................................................................82
3.3.2 Step 2: Powering on................................................................................................................83
3.3.3 Step 3: Taking off ....................................................................................................................85
3.3.4 Step 4: Flight/scanning ...........................................................................................................86
3.3.5 Step 5: Landing........................................................................................................................87
3.3.6 Step 6: Downloading the data...............................................................................................87
3.3.7 Step 7: Shut down...................................................................................................................87
4 Autonomous Waypoint mode ...............................................................................................88
4.1 Overview ..................................................................................................................................88
4.2 Autonomous Waypoint functions.........................................................................................88
4.3 Operational guide...................................................................................................................88
4.3.1 Step 1: Drone inspection........................................................................................................88
4.3.2 Step 2: Powering on................................................................................................................89
4.3.3 Step 3: Taking off ....................................................................................................................91
4.3.4 Step 4: Flight/scanning ...........................................................................................................92
4.3.5 Step 5: Landing........................................................................................................................92
4.3.6 Step 6: Downloading the data...............................................................................................93
4.3.7 Step 7: Shut down...................................................................................................................93
5 Operating limitations..............................................................................................................94
5.1 Overview ..................................................................................................................................94
5.2 Weight limits............................................................................................................................94
5.3 Flight limitations......................................................................................................................94
5.3.1 No-fly zones.............................................................................................................................94
5.3.2 Zoe flight limitations...............................................................................................................95

Hovermap-Zoe user manual
Release date: 01 Nov 2021
Revision: 1.0
vii
5.4 Center of gravity limits ...........................................................................................................95
5.4.1 Reference datum ....................................................................................................................95
5.4.2 Determining the center of gravity.........................................................................................98
5.5 Flight and maneuver limitations ...........................................................................................99
5.6 Battery limitations ................................................................................................................100
5.7 Range limitations ..................................................................................................................100
5.7.1 Command and control link..................................................................................................100
5.7.2 Flight battery .........................................................................................................................101
5.8 Environmental limitations....................................................................................................101
6 Emergency procedures ........................................................................................................102
6.1 Hovermap failsafes...............................................................................................................102
6.1.1 Low Battery RTH failsafe ......................................................................................................103
6.1.2 Critical Battery Auto-landing failsafe ..................................................................................105
6.1.3 Remote Controller Communications Loss RTH failsafe ...................................................105
6.1.4 Wi-Fi Communications Loss RTH failsafe...........................................................................106
6.1.5 Heavy Dust Backtrack failsafe .............................................................................................107
6.1.6 SLAM Loss failsafe ................................................................................................................107
6.1.7 LiDAR Error failsafe...............................................................................................................109
6.1.8 Poor Waypoint failsafe .........................................................................................................111
6.2 Zoe failsafes...........................................................................................................................111
6.2.1 Return to Launch failsafe.....................................................................................................111
6.2.2 GCS communication failure.................................................................................................112
6.3 Emergency procedures ........................................................................................................113
6.3.1 Notifications ..........................................................................................................................113
6.3.2 Loss of propulsion ................................................................................................................121
6.3.3 Loss of GPS signal .................................................................................................................122
6.3.4 Not enforced flight maneuver.............................................................................................122
6.3.5 Obstacle collision ..................................................................................................................122
6.3.6 Approach the drone after an emergency ..........................................................................123

Hovermap-Zoe user manual
Release date: 01 Nov 2021
Revision: 1.0
viii
Maintenance................................................................................................ 124
1 Overview ................................................................................................................................124
2 Maintenance schedule .........................................................................................................124
2.1 Zoe flight checks ...................................................................................................................127
2.1.1 Preflight check.......................................................................................................................127
2.1.2 Post-flight check....................................................................................................................127
2.2 Airframe maintenance .........................................................................................................127
2.2.1 Airframe check ......................................................................................................................127
2.2.2 Airframe extensive check.....................................................................................................128
2.2.3 Arm replacement ..................................................................................................................129
2.2.4 Airframe repair/replacement ..............................................................................................129
2.2.5 Battery connector insert check/replacement....................................................................129
2.3 Propeller maintenance.........................................................................................................129
2.3.1 Visual check ...........................................................................................................................130
2.3.2 Propeller track.......................................................................................................................130
2.3.3 Balancing the propeller........................................................................................................130
2.3.4 Propeller replacement .........................................................................................................131
2.4 Motor maintenance..............................................................................................................131
2.4.1 Motor check...........................................................................................................................131
2.4.2 Motor cleaning ......................................................................................................................132
2.4.3 Motor bearing replacement ................................................................................................132
2.4.4 Motor replacement...............................................................................................................132
2.5 ESC maintenance ..................................................................................................................133
2.5.1 Acoustic check .......................................................................................................................133
2.5.2 Performance check...............................................................................................................133
2.5.3 ESC replacement...................................................................................................................133
2.6 Autopilot maintenance.........................................................................................................133
2.6.1 IMU calibration......................................................................................................................134
2.6.2 GPS (compass) calibration ...................................................................................................134

Hovermap-Zoe user manual

Release date: 01 Nov 2021

Revision: 1.0

5.3 Battery maintenance............................................................................................................134

5.3.1 Battery checks .......................................................................................................................134

5.3.2 Visual check ...........................................................................................................................135

5.3.3 Charging.................................................................................................................................135

5.3.3.1 Before charging.....................................................................................................................135

5.3.3.2 Charging.................................................................................................................................135

5.3.3.3 Discharging............................................................................................................................136

5.3.4 Battery replacement.............................................................................................................136

5.3.5 Battery storage......................................................................................................................137

6. Support ........................................................................................................ 138

7. List of abbreviations ................................................................................... 139

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