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Safety Notice Please read and follow all instructions carefully and consult all relevant national and international safety regulations for your application. Caution To avoid violating the warranty and to minimize the chances of getting electrically shocked, please do not disassemble the device on your own accord. The device must not be tampered with and must not be changed in any way. There are no user-serviceable parts inside the device.
Contents 1 1.1 1.2 2 2.1 2.2 2.3 2.4 3 3.1 3.2 4 4.1 4.2 4.
1 Introduction Pandar40 is a 40-channel mechanical LiDAR. It creates 3D imaging by 360° mechanical rotating through 40 laser diodes inside the housing. Pandar40’s unique channel distribution makes it more suitable for autonomous driving applications. In addition to the specifications of Pandar40, this manual also describes the mechanical installation, data outputs format, and GPS timestamp synchronization.
1.1.2 Structure Description 40 pairs of laser emitters and receivers are attached to a rotating motor inside the LiDAR housing that perform horizontal scans in 360 degrees. Z 270° Shell Reference Center Laser Receiver 180° 0° Cable Laser Emitter X Clockwise Rotation Direction Y 90° Figure 1.2 Partial Cross-Sectional Diagram Figure 1.3 LiDAR Coordinate System and Rotation Direction NOTE 1) Figure 1.3 shows the coordinate system and the z axis is along the rotation center of the LiDAR.
1.1.3 Pandar40 Channel Vertical Distribution The vertical angular resolution is 0.33° between Channel 6 and Channel 30; The vertical angular resolution is 1° between Channel 5 and Channel 6, Channel 30 and Channel 38; The vertical angular resolution of the remaining channels is not evenly distributed. Please see Appendix I for detailed channel distribution. Channel 1 181.640 mm + 15° 15° Channel 6 Channel 12 + 2° 0° Channel 30 - 6° Channel 38 - 14° Channel 40 - 25° 45.400 mm 25° 99.
1.2 Specifications Scanning Method Mechanical Rotating Channel 40 Wavelength 905 nm Laser Class Class 1 Eye Safe Measurement Range Angular Resolution (Vertical) 0.33° (-6° to +2°); 1° (+2° to +3°, -14° to -6°); 2° (+3° to +5°); 3° (+5° to +11°); 4° (+11° to +15°); 5° (-19° to -14°); 6° (-25° to -19°) 0.
2 Installation Guide 2.1 Mechanical Installation（Metric System） 88.90mm φ116.00mm 2×φ4mm 6mm Forφ4mm PINS φ98mm 101.50mm 3×M6 6mm(MOUNT) φ112.00mm Figure 2.1 Pandar40 Side View -05- M6 8mm(MOUNT) Figure 2.
Quick Installation M6 screw 7~9mm over mounting base 2xΦ4PINS 5~6mm over mounting base Figure 2.
Stable Installation M6 screw 7~9mm over mounting base 3xM6 screw 5~6mm over mounting base 2xΦ4PINS 5~6mm over mounting base Figure 2.
2.2 Interface Pandar40 uses Phoenix Contact (PN: SACC-M12FS-8CON-PG 9-SH) as the communication connector. The cable length from LiDAR exit to the tip of the connector is 0.3 m. First View: The direction from the eye to the interface as shown B A Pin # 1 2 3 4 5 6 7 8 Figure 2.
2.3 Connecting Box (Optional Component) Connecting box is the optional component of Pandar40. Users can choose to connect LiDAR using the connecting box. The connecting box comes equipped with a power port, a GPS port, and a standard ethernet port. The cable length from phoenix connector to the connecting box is 1.5 m. Figure 2.
2.3.1 Connecting Box Interfaces 123456 c b Cable a Figure 2.7 Connecting Box Interfaces a b c Standard Ethernet Port GPS port pin number from left to right is 1 to 6, and the specific definition of each pin is shown as follows: RJ45, 100 Mbps Ethernet Pin No.
2.3.2 How to Connect using Connecting Box Connect the power port to the adapter. Power port and standard Ethernet port Use an Ethernet cable to connect the LiDAR’s and computer’s Ethernet ports. Pandar40 Connecting Box Figure 2.
2.4 Get Ready to Use Pandar40 begins to scan and transmit data automatically once it is wired and powered up. To receive the data on your PC, please set the PC IP address to 192.168.1.100 and Subnet mask to 255.255.255.0. Point cloud data can be quickly viewed or recorded by using PandarView, the point cloud data viewer software developed by Hesai. For more on PandarView installation and usage, see Appendix III PandarView. NOTE Pandar40 does not have a power switch.
3 LiDAR Data Structure The communication protocol for data output of Pandar40 is Fast Ethernet UDP/IP. The output data includes point cloud data packet and GPS data packet. Each data packet consists of an ethernet header and a UDP data. Ethernet Header: 42 bytes Point Cloud Data Packet UDP Data: 1256 bytes LiDAR Data Ethernet Header: 42 bytes GPS Data Packet UDP Data: 512 bytes Figure 3.1 LiDAR Data Structure Illustration 3.
3.1.
3.1.2 Point Cloud Data Packet- UDP Data The UDP Data of Pandar40 has a 1256 bytes payload consisting of 1240 bytes ranging data and 16 bytes additional information. All the multi-byte values are the unsigned type and in Little Endian format.
Additional Information: 16 bytes Reserved 5 bytes reserved data, meaningless High Temperature Shutdown Flag 1 byte 0x01 means high temperature; 0x00 means normal operation · during normal operation, shutdown flag keeps being 0x00 · if high temperature is detected and system needs to be shut down, the shutdown flag will be set to 0x01, and the system will be shut down after 60 seconds.
3.2 GPS Data Packet Ethernet Header/UDP Data Each GPS Data Packet has a 42 bytes ethernet header and 512 bytes UDP Data. All the multi-byte values are the unsigned type and in Little Endian format. GPS UDP Data Packet will be triggered if there is GPS PPS signal, and the port is 10000. 3.2.
3.2.2 GPS Data Packet - UDP Data Every second, one UDP data will be triggered by one GPS PPS. UDP data has 512 bytes, and the port is 10110.
Example of GPS Data Packet UDP Data Analysis Figure 3.
GPRMC Data Format The standard GPRMC data format is as follows: $GPRMC，<01>，<02>，<03>，<04>，<05>，<06>，<07>，<08>，<09>，<10>，<11>，<12>*hh Detailed descriptions are as follows： <01> UTC Time, hhmmss (hour, minute, second) format <07> Ground Rate (000.0 to 999.9 knots) <03> Latitude ddmm.mmmm (degree, minute) format <09> UTC Date, ddmmyy (day, month, year) format <02> Location Status, A=Valid Position, V=Invalid Position <04> Latitude Northern (N) or Southern (S) Hemisphere <05> Longitude dddmm.
4 Web Control Web Control can be used to set Pandar40 parameters, check device info, and upgrade. Before setting, please connect LiDAR and the computer using Ethernet cable. Set IP address to 192.168.1.100. 4.1 Open Web Control After setting, open browser and type URL: 192.168.1.201/index.html to enter the web control homepage. Figure 4.
4.2 Setting 1) Pandar40 supports both broadcast (default setting) and unicast. To use broadcast, please set Destination IP as 255.255.255.255. To use unicast, please set Destination IP as the same as PC IP address. 2) Users can choose the dual return type from the last return, the strongest return, and the dual return. 3) Users can choose the spinning rate from 600 rpm and 1200 rpm. 4) Users can choose the GPS sync angle. If set as 0, then the 0 degree angle is in sync with PPS.
4.3 Device Info Software version, hardware version, firmware version can be viewed from device information page. Figure 4.
4.4 Firmware Upgrade Please ask Hesai for the latest upgrade file if needed. Click on “Upload” button to upload the upgrade file. Please reboot the LiDAR after finishing upgrading. Figure4.
Appendix I Pandar40 Channel Distribution -25- Vertical Angle (Elevation) The vertical angle of each line is constant, and 0° represents horizontal direction. Define upward as positive. Instrument Range (in meters) Instrument range capability Range Capability vs.
Channel Number of Laser Horizontal Angle Offset (Azimuth) 15 -1.042 16 Vertical Angle (Elevation) Instrument Range (in meters) Range Capability vs. Reflectivity (in meters) -1.00 230 200@10% 3.125 -1.33 230 200@10% 17 -5.208 -1.67 230 200@10% 18 -1.042 -2.00 230 200@10% 19 3.125 -2.33 230 200@20% 20 -5.208 -2.67 230 200@20% 21 -1.042 -3.00 230 200@20% 22 3.125 -3.33 230 200@20% 23 -5.208 -3.67 230 200@20% 24 -1.042 -4.00 230 200@20% 25 3.125 -4.
Instrument Range (in meters) Range Capability vs. Reflectivity (in meters) -10.00 130 200@20% -1.042 -11.00 130 200@20% 36 -1.042 -12.00 130 200@20% 37 -1.042 -13.00 130 200@20% 38 -1.042 -14.00 130 200@20% 39 -1.042 -19.00 130 200@20% 40 (Bottom Line) -1.042 -25.00 130 200@20% Channel Number of Laser Horizontal Angle Offset (Azimuth) 34 -1.042 35 Vertical Angle (Elevation) Table I.
Appendix II Point Cloud Data Packet Absolute Time and Laser Firing Time Calculations Pandar40 transmits two types of UDP Data Packet, including the point cloud UDP Data Packet and the GPS UDP Data Packet, hereafter referred to as Point Cloud Data Packet and GPS Data Packet. 1 Absolute Time Calculation of Point Cloud Data Packet LiDAR transmits a GPS Data Packet and a Point Cloud Data Packet chronologically with μs timestamps from the same data source.
2 Laser Firing Time Calculation The laser firing time of every laser channel can be calculated by using the absolute time in Point Cloud Data Packet. Assuming the Point Cloud Data Packet's absolute time is t0.
Dual Return Mode There are 10 Blocks in every Point Cloud UDP Data Packet. In the dual return mode, Block (1, 2) are corresponding to dual return ranging data for the same 40 channels laser firing, so they have the same firing time for each laser and the same end time for the Block. Similarly, Block (3, 4) and so on have same firing and end time. The calculation of each Block's end time is as follows: 01) End time of Block10: (t0-28.58) μs; 02) End time of Block9: (t0-28.
-31- 21) Laser ID 2’s firing time: (t6-28.47) μs； 31) Laser ID 1’s firing time: (t6-42.22) μs； 22) Laser ID 38’s firing time: (t6-28.47) μs； 32) Laser ID 37’s firing time: (t6-42.22) μs； 23) Laser ID 34’s firing time: (t6-29.77) μs； 33) Laser ID 33’s firing time: (t6-43.52) μs； 24) Laser ID 6’s firing time: (t6-31.74) μs； 34) Laser ID 5’s firing time: (t6-45.49) μs； 25) Laser ID 22’s firing time: (t6-31.74) μs； 35) Laser ID 19’s firing time: (t6-45.49) μs； 26) Laser ID 10’s firing time: (t6-33.
Appendix III PandarView PandarView is a software that is used to play and record the point cloud data. Installations are available on platforms: Windows 7x64/ Windows 8x64/Windows 10x64/Ubuntu-16.04. The installation package can be found in the provided USB disk in the LiDAR box. 1 PandarView Installation Please install the PandarView and set the computer static IP address to 192.168. 1.100 before running. Installation System Installation Files Windows Ubuntu-16.
2 PandarView Instructions -33- Check Live Data Record Pcap Files Run PandarView, click on and select your LiDAR model to begin receiving data over Ethernet. indows：Double-click shortcut "Pandar" and you Windows：Double-click will see an initial interface. Ubuntu-16.04: Double-click the shortcut on the desktop (if you set "Run executable text files when they are opened"), or open the terminal, enter: ~/Desktop/PandarView to open the software.
Play Pcap Files Click lick on the icon to open the "Choose Open File" window. le and click on the icon Select the pcap file Figure III.4 Choose Open File Window . Click on data. to play the pcap file and visualize point cloud Figure III.5 Ready to Play the Pcap File Import Correction File Each LiDAR comes with a correction file (CSV) in the provided USB disk. In the play mode, click on “File” in the upper left corner.
Play Buttons Button Description Jump to beginning of the file. 1. While paused, click to view point cloud data from previous frame. 2. While playing, rewind (click again for different speeds, such as 2x, 3x, 1/2x, 1/4x, 1x speeds). 1. After the point cloud file le has finished loading, click on 2. While playing, click on to pause. to play. 1. While paused, click to view point cloud data in next frame. 2. While playing, forward (click again for different speeds, such as 2x, 3x, 1/2x, 1/4x, 1x speeds).
3 PandarView Features View Direction Selection 3D Projection Mode Switching Click on the following buttons to view the point cloud data from different directions. PandarView enables switching between two types of 3D projection methods (Orthogonal Projection and Perspective Projection) through the drop-down menu.
Point Cloud Data Selection Users can click on to display or hide point cloud data from any selected laser channels. Clicking on this icon will pop up the following interface. Click on again to close the interface. Figure III.10 Channel Display Click on the left-side checkboxes to show/hide any given channel’s display. Check the “Enable/Disable all” option in the bottom left corner to show/hide all channels at once. -37- Click on to select visible points.
Click lick to compensate the azimuth error caused by the delay of laser activation. Color Schemes Byy clicking on , users can see the current color scheme in tthe lower right corner. The drop-down list is used to choose different color schemes. The default color scheme of point cloud is drawing according to the intensity. Users can choose azimuth, distance, laser_id, or timestamp as the color scheme as well. Figure III.
PandarView Software Version Click “About” in the upper left corner to check the software version. Figure III.
Appendix IV FCC Statement FCC ID: 2ASO2PANDAR This device complies with part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) this device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation. This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to part 15 of the FCC Rules.
Appendix V Support and Contact Technical Support If you have any problems, and cannot find the solution in this manual please contact us: E-mail: service@hesaitech.com Website: www.hesaitech.com GitHub: https://github.com/HesaiTechnology NOTE If you have any questions about the open source we provide on GitHub, please leave your questions under corresponding projects.
Legal Notice All texts, graphics, and pictures in this manual are subject to the copyright of Shanghai Hesai Photonics Technology Co., Ltd and are potentially protected by copyright through third parties. No part of the manual may be reproduced, processed, duplicated or published in any form by photocopying, reprinting or other process, without a written agreement. Despite careful examination, we cannot assume any liability for the accuracy and legality of the contents published in the manual.
Hesai Photonics Technology Co., Ltd Phone：021-80394947-802 Business Email：info@hesaitech.com Technical Support：021-80394947-915 Service Email：service@hesaitech.com Website：www.hesaitech.
