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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 Introduction 1.1 1.2 Operational Principles Specifications 2.1 2.2 06-08 2.3 Mechanical Installation (Metric System) Interface Connecting Box (Optional Component) 10-12 3 LiDAR Data Structure 2 2.4 3.1 3.2 4 4.1 4.2 4.3 4.4 4.
1 Introduction Pandar20A/B is a 20-channel mechanical LiDAR. It creates 3D imaging by 360° mechanical rotating through 20 laser diodes inside the housing. Pandar20A/B’s unique channel distribution makes it more suitable for autonomous driving applications. In addition to the specifications of Pandar20A/B, this manual also describes the mechanical installation, data outputs format, and GPS timestamp synchronization.
1.1.2 Structure Description Pandar20A and Pandar20B share the same structure except for the logo. Here we use Pandar20A as an example. 20 pairs of laser emitters and receivers are attached to a rotating motor inside the LiDAR housing that perform horizontal scans in 360 degrees. Z 180° Shell 90° Laser Receiver 270° Laser Emitter X Figure 1.2 Partial Cross-Sectional Diagram Y 0° Figure 1.3 LiDAR Coordinate System and Rotation Direction NOTE 1) Figure 1.
1.1.3 Pandar20A/B Channel Vertical Distribution Pandar20A Please see Appendix I for detailed channel distribution. 315.257 mm Channel 1 + 8° Channel 4 Channel 9 + 2° - 1° Channel 14 - 6° Channel 20 - 25° 103.935 mm Figure 1.4 Channel Vertical Distribution -03- Figure 1.
Pandar20B Please see Appendix I for detailed channel distribution. 775.939 mm 3° Channel 1 Channel 2 + 3° + 2° Channel 11 - 3° Channel 16 - 8° Pandar20B Channel 20 - 19° 19° 126.118 mm Figure 1.6 Channel Vertical Distribution Figure 1.
1.2 Specifications Scanning Method Mechanical Rotating FOV (Vertical) Pandar20A：33° (-25° to +8°) Pandar20B：22° (-19° to +3°) Channel 20 Wavelength 905 nm Minimum Angular Resolution 0.33° (Vertical) Laser Class Class 1 Eye Safe Data Transmission Method UDP/IP Ethernet (100 Mbps) Enclosure Level IP67 Data Outputs UDP: distance, azimuth angle, intensity Measurement Range 0.
2 Installation Guide 2.1 Mechanical Installation (Metric System) Pandar20A and Pandar20B share the same installation method. Here we use Pandar20A as an example. 88.90 mm M6 7 mm(MOUNT) 2×φ4 mm 6 mm For φ4 mm PINS φ 98 mm 104.70 mm φ116.00 mm 3×M6 7 mm(MOUNT) φ115.00 mm Figure 2.1 Pandar20A/B Side View Figure 2.
Quick Installation M6 screw 7~9 mm over mounting base 2xΦ4PINS 5~6 mm over mounting base Figure 2.
Stable Installation M6 screw 7~9 mm over mounting base 3xM6 screw 5~6 mm over mounting base 2xΦ4PINS 5~6 mm over mounting base Figure 2.
2.2 Interface Pandar20A/B uses Lemo Contact as the communication connector. The cable length from LiDAR exit to the tip of the connector is 0.3 m. 1 2 16 3 B 8 4 7 A First View: The direction from the eye to the interface as shown 6 B Figure 2.5 Lemo Contact 5 Pin # Function Color Voltage (V) Pin # Function Color Voltage (V) 1 N.A N.A N.A 9 GPS Serial Data WHITE -13 V to +13 V N.A N.A N.A GPS PPS YELLOW 3.3 V/5 V N.A N.A N.A P12V RED 12 V N.A N.A N.
2.3 Connecting Box (Optional Component) Connecting box is the optional component of Pandar20A/B. 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. Lemo Connector 1500 mm Figure 2.
2.3.1 Connecting Box Interfaces 123456 c a b c b 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 Pandar20A Use an Ethernet cable to connect the LiDAR’s and computer’s Ethernet ports. Connecting Box Computer Figure 2.7 How to Connect Using Connecting Box NOTE Pandar20A and Pandar20B share the same connection method. Here we use Pandar20A as an example. Please refer to Appendix III for the connection using PTP protocol.
2.4 Get Ready to Use Pandar20A/B 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 VI PandarView. NOTE Pandar20A/B does not have a power switch.
3 LiDAR Data Structure The communication protocol for data output of Pandar20A/B 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 Header: 8 bytes UDP Data: 1270 bytes LiDAR Data Body: 1240 bytes Tail: 22 bytes Ethernet Header: 42 bytes GPS Data Packet UDP Data: 512 bytes Figure 3.
3.1.
3.1.2 Point Cloud Data Packet-UDP Data The UDP Data of Pandar20A/B includes the areas of Header, Body and Tail. All the multi-byte values are the unsigned type and in Little Endian format.
Body Body: 1240 bytes (20 blocks) Block 1 Block 2 Block 3 ······ Block 20 Azimuth Azimuth Azimuth ······ Azimuth Unit 1 Unit 1 Unit 1 ······ Unit 1 Unit 2 Unit 2 Unit 2 ······ Unit 2 ······ ······ ······ ······ ······ Unit 20 Unit 20 Unit 20 ······ Unit 20 Table 3.2 UDP Data-Body Definition The size of each block equals to (20*Unit Size+Azimuth Size). Each Block 62 bytes Azimuth 2 bytes Unit 3 bytes Represents the current reference angle of the rotor.
Tail Tail: 22 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 every second, and the port is 10110. Before receiving the GPS module data, the rising edge of the internal 1Hz signal of the LiDAR will trigger a GPS Data Packet.
IP Address The destination IP address is 0xFF FF FF FF and in broadcast form. The default source IP address is 192.168.1.201. Taking“Internet Protocol (20 bytes)” as an example, it is described as follows: Figure 3.3 GPS Data Ethernet Header Internet Protocol Illustration 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. In a locked state, the GPS packet outputs per second continuously.
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 Pandar20A/B parameters, check device info, and upgrade. Before setting, please connect LiDAR and the computer using Ethernet cable. Set IP address to 192.168.1.25. 4.1 Open Web Control After setting, open browser and type URL: 192.168.1.201/index.html to enter the web control homepage. There are two GPS status: 1) Lock: the clock of LiDAR synchronizes with the clock of GPS. 2) Unlock: the clock of LiDAR does not synchronize with the clock of GPS.
4.2 Setting 1) Pandar20A/B 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 set the spinning rate as 600 rpm or 1200 rpm. 3) Users can choose the GPS sync angle. If set as 0, then the 0 degree angle is in sync with PPS. 4) Users can choose the dual return type from the last return, the strongest return, and the dual return.
4.3 Angle Range Users can set azimuth angle range on this page. There are two methods to set angle range: LiDAR based angle range method and laser based angle range method. Figure 4.3 Angle Range Page LiDAR Based If LiDAR based angle range method is selected, the start and end angles that users enter will be applied to all 20 channels. In other words, all 20 channels will have the same angle range. There will be no laser firing or data generated outside the specified angle range.
Laser Based If laser based angle range method is selected, users can see a table as in Figure 4.4. The start and end angles of each laser can be configured individually. Figure 4.4 Angle Range Page-Laser Based Users can edit the start and end angles by first downloading the angle range configuration file and then upload the edited configuration file. Please click “Save” to apply your settings. NOTE 1) Use LiDAR Based Method if the same angle range is expected on all 20 channels.
4.4 Device Info Software version, hardware version, firmware version can be viewed from device information page. Figure4.
4.5 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 Pandar20A/B Channel Distribution Pandar20A Channel Distribution Channel number in UDP Data Packet Horizontal Angle Offset (Azimuth) The horizontal angle of each line is the sum of current reference angle of the rotor and the angle below. Define clockwise as positive. 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) 13 -1.042 14 Vertical Angle (Elevation) Instrument Range (in meters) Range Capability vs. Reflectivity (in meters) -5.00 130 200@20% -1.042 -6.00 130 200@20% 15 -1.042 -8.00 130 200@20% 16 -1.042 -10.00 130 200@20% 17 -1.042 -12.00 130 200@20% 18 -1.042 -14.00 130 200@20% 19 -1.042 -19.00 130 200@20% 20 -1.042 -25.00 130 200@20% Table I.
Channel Number of Laser Horizontal Angle Offset (Azimuth) Vertical Angle (Elevation) Instrument Range (in meters) Range Capability vs. Reflectivity (in meters) 05 -5.208 0.33 230 200@10% 06 -1.042 0.00 230 200@10% 07 3.125 -0.33 230 200@10% 08 -1.042 -1.00 230 200@10% 09 -5.208 -1.67 230 200@10% 10 3.125 -2.33 230 200@20% 11 -1.042 -3.00 230 200@20% 12 -1.042 -4.00 230 200@20% 13 -1.042 -5.00 130 200@20% 14 -1.042 -6.00 130 200@20% 15 -1.042 -7.
Appendix II Point Cloud Data Packet Absolute Time and Laser Firing Time Calculations The point cloud data packet absolute time calculations of Pandar20A and Pandar20B are the same, while the laser firing time calculations are different. Pandar20A/B 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.
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. Body 1240 bytes (20 blocks) Block 1 Block 2 Block 3 ······ Block 20 Azimuth Azimuth Azimuth ······ Azimuth Unit 1 Unit 1 Unit 1 ······ Unit 1 Unit 2 Unit 2 Unit 2 ······ Unit 2 ······ ······ ······ ······ ······ Unit 20 Unit 20 Unit 20 ······ Unit 20 Table II.
Dual Return Mode There are 20 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 20 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 Block 20: (t0-28.58) μs; 02) End time of Block 19: (t0-28.
09) Laser ID 8’s firing time: (t6-1.304*7-1.968*4-3.62) μs； 15) Laser ID 10’s firing time: (t6-1.304*12-1.968*9-3.62) μs； 10) Laser ID 11’s firing time: (t6-1.304*8-1.968*5-3.62) μs； 16) Laser ID 7’s firing time: (t6-1.304*12-1.968*11-3.62) μs； 11) Laser ID 18’s firing time: (t6-1.304*10-1.968*6-3.62) μs； 17) Laser ID 3’s firing time: (t6-1.304*14-1.968*12-3.62) μs； 12) Laser ID 16’s firing time: (t6-1.304*11-1.968*6-3.62) μs； 18) Laser ID 5’s firing time: (t6-1.304*14-1.968*13-3.
Appendix III PTP Protocol The Precision Time Protocol (PTP), also referred as IEEE 1588 standard, is a protocol used to synchronize clocks throughout a computer network. It can achieve clock accuracy in the sub-microsecond range, and is suitable for measurement and control systems. 1 How to connect LiDAR using PTP protocol Connect the power port to the adapter. Power port and standard Ethernet port PTP Master (third party) Pandar20A Ethernet Switch Connecting Box Computer Figure III.
2 Absolute Time Calculation of Point Cloud Data Packet In case of clock source from PTP, the user needs to connect a PTP master device to get the absolute time. If PTP clock source is selected, LiDAR transmits only Point Cloud Data Packet with μs timestamps and 6 bytes UTC time. The μs timestamp and UTC time in the Point Cloud Data Packet are used to calculate the packing time of this data packet.
Appendix IV Communication Protocol This part describes the communication protocol supported by Pandar20A/B and detailed implementation. 1) Binary format is used to improve the communication performance. 2) Disabled Nagle’s algorithm to improve the real-time performance. 3) Simple protocol includes fixed 8 bytes header and variable command specific payload size. 1 Packet Structure The protocol includes the header and the payload. The header describes type of the command and the length of the payload.
Following is the response message format sent from server (LiDAR) to client: Type Length Field Description 0×47 1 byte fixed content 0×74 1 byte fixed content Cmd 1 byte the code for command, see command description for details Return Code 1 byte return code from server Data Length 4 bytes the additional data length for the command, 0x00 means that the command does not have payload Payload data length bytes the payload data for the command, its length is indicated by “payload length” fie
PTC_COMMAND_GET_LIDAR_CALIBRATION 1）Function Description: To retrieve LiDAR calibration files 2）Description for Sending Data Package: Command Code: 0x5 Payload Length: 0 byte 3）LiDAR Feedback Message Payload Content: The LiDAR calibration file data Format: CSV Format (ASCII) Including 3 fields (LaserID, Elevation, Azimuth Offset) PTC_COMMAND_PTP_DIAGNOSTICS 1) Function Description: Obtain PTP diagnostics information from server 2) Description for Sending Data Package: Command Code: 0x6 Payload Length: 1
3) LiDAR Response Message Payload Content b. PTP TLV PORT_DATA_SET a. PTP STATUS PTP Query Type master_offset ptp_state elapsed_millisec Length 8 bytes 4 bytes 4 bytes Description the offset between master/salve "NONE", /*0*/ "INITIALIZING", /*1*/ "FAULTY", /*2*/ "DISABLED", /*3*/ "LISTENING", /*4*/ "PRE_MASTER"/*5*/ "MASTER", /*6*/ "PASSIVE", /*7*/ "UNCALIBRATED", /*8*/ "SLAVE", /*9*/ "GRAND_MASTER", /*10*/ time elapsed in milliseconds since last handshake between master/slave Table IV.
c. LinuxPTP TLV TIME_STATUS_NP (0xc000) d.
PTC_COMMAND_GET_INVENTORY_INFO 1）Function Description: 2）Description for Sending Data Package: To retrieve the LiDAR inventory information Command Code: 0x7 Payload length: 0 byte 3）LiDAR Response Message Payload Content Fields Length Description sn 18 bytes the serial number of the device date_of_manufacture 16 bytes the date of manufacture string of the device in ASCII format yyyy-mm-dd mac 6 bytes the mac address of the device.
3）LiDAR Response Message Payload Content Fields Length Description ipaddr 4 bytes default 192.168.1.201 the configure IP address of the device mask 4 bytes default 255.255.255.0 the IP Mask of the device gateway 4 bytes default the default gateway of the device dest_ipaddr 4 bytes default 255.255.255.
Fields Length Description clock_source 1 byte default 0-GSP the configure clock source, 0-GPS, 1-PTP udp_seq 1 byte default 0-off 0-off, 1-on. whether the point cloud data will include a UDP sequence number field reserved 16 bytes reserved for future Table IV.
Appendix V Data Structure with UDP Sequence On When UDP sequence is ON, Point Cloud UDP Packet size changes from 1270 bytes to 1274 bytes, with additional information changes from 22 bytes to 26 bytes. Point Cloud Data Packet LiDAR Data Ethernet Header: 42 bytes Header: 8 bytes UDP Data: 1274 bytes Body: 1240 bytes Ethernet Header: 42 bytes GPS Data Packet Tail: 26 bytes UDP Data: 512 bytes Figure V.
Tail changes to 26 bytes, adding 4 bytes UDP sequence number. Tail: 26 bytes 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.
Appendix VI Phoenix Contact Pandar20A/B can use 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. B A Pin # 1 2 3 4 5 6 7 8 Figure VI.
Appendix VII 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 Check Live Data Record Pcap Files Run PandarView, click on and select "General Lidar" to begin receiving data over Ethernet. Windows：Double-click indows：Double-click shortcut "Pandar" and you 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. Select the pcap file le and click on the icon Figure VII.3 Choose Open File Window . Click on to play the pcap file and visualize point cloud data. Figure VII.4 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.
Return Mode Users can switch to different return modes using the “Return Mode” drop-down list: block1 return, block 2 return, and dual return. 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 VII.9 Channel Display Click on the left-side checkboxes to show/hide any given channel’s display.
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 VII.
PandarView Software Version Click “About” in the upper left corner to check the software version. Figure VII.
Appendix VIII 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 IV 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.
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